+ python -m lidar_slam --no-model /working/b5e78cd0-870a-49fe-a261-60ab695c9636 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/b5e78cd0-870a-49fe-a261-60ab695c9636 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 0.010888479 Adjusted end_distance from 9.223372036854776e+18 to 173.900888479 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010888479 meters Centerline goodness : 0.221282 Centerline is valid? [0, False] SLAMing on 0.040888479 meters Centerline goodness : 0.224273 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99993558e-01 -3.57927311e-03 -2.69904359e-04 3.59566711e-03] [ 3.57861101e-03 9.99990681e-01 -2.41494612e-03 -2.56352130e-03] [ 2.78545596e-04 2.41396468e-03 9.99997048e-01 -4.55888097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070888479 meters Centerline goodness : 0.226021 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99993201e-01 -3.68731225e-03 -3.71654876e-05 4.52289308e-03] [ 3.68725252e-03 9.99992083e-01 -1.49620266e-03 -5.20111800e-03] [ 4.26821597e-05 1.49605544e-03 9.99998880e-01 -6.46172612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100888479 meters Centerline goodness : 0.187590 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.01 [[ 9.99992601e-01 -3.84305425e-03 1.70848605e-04 4.44566519e-03] [ 3.84329421e-03 9.99991596e-01 -1.42708714e-03 -4.61113175e-03] [-1.65362796e-04 1.42773320e-03 9.99998967e-01 -6.65928150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130888479 meters Centerline goodness : 0.194611 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99997702 -0.00429933 0.0052411 0.01829582] [ 0.00428829 0.99998857 0.00211648 0.00457035] [-0.00525014 -0.00209396 0.99998403 -0.00794336] [ 0. 0. 0. 1. ]] SLAMing on 0.160888479 meters Centerline goodness : 0.181123 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99998568 -0.00160386 0.0051058 0.01897975] [ 0.00158236 0.99998988 0.00421137 0.0090491 ] [-0.0051125 -0.00420323 0.9999781 -0.00828688] [ 0. 0. 0. 1. ]] SLAMing on 0.190888479 meters Centerline goodness : 0.174273 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99998727 -0.00126046 0.00488605 0.02068586] [ 0.00124459 0.99999395 0.00324862 0.01510719] [-0.00489011 -0.0032425 0.99998279 -0.00941074] [ 0. 0. 0. 1. ]] SLAMing on 0.220888479 meters Centerline goodness : 0.177000 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99989629e-01 -9.72217130e-06 4.55422560e-03 2.38591820e-02] [-6.83074124e-06 9.99993395e-01 3.63459761e-03 1.93816805e-02] [-4.55423086e-03 -3.63459103e-03 9.99983024e-01 -1.22427712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250888479 meters Centerline goodness : 0.183640 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99998833 0.00272075 0.00399119 0.0296518 ] [-0.00273987 0.99998475 0.00479459 0.02643624] [-0.00397808 -0.00480547 0.99998054 -0.01757228] [ 0. 0. 0. 1. ]] SLAMing on 0.280888479 meters Centerline goodness : 0.180869 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99998822 0.00311459 0.00372348 0.03242549] [-0.00312942 0.99998717 0.00398321 0.03157273] [-0.00371103 -0.00399482 0.99998513 -0.01992743] [ 0. 0. 0. 1. ]] SLAMing on 0.310888479 meters Centerline goodness : 0.184538 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.02 [[ 0.99997287 0.0067107 0.00303807 0.03730371] [-0.00672837 0.9999603 0.00584182 0.0416339 ] [-0.00299874 -0.0058621 0.99997832 -0.02352028] [ 0. 0. 0. 1. ]] SLAMing on 0.34088847899999997 meters Centerline goodness : 0.190884 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.03 [[ 0.99996875 0.00748702 0.00253764 0.03993563] [-0.00750037 0.99995788 0.00529069 0.04922728] [-0.00249792 -0.00530956 0.99998278 -0.02512555] [ 0. 0. 0. 1. ]] SLAMing on 0.370888479 meters Centerline goodness : 0.195608 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.03 [[ 0.99996853 0.00768595 0.00196666 0.04300092] [-0.00769422 0.99996143 0.00423418 0.05659797] [-0.00193404 -0.00424918 0.9999891 -0.02717771] [ 0. 0. 0. 1. ]] SLAMing on 0.400888479 meters Centerline goodness : 0.199030 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.03 [[ 0.99997133 0.00743112 0.00145274 0.04583774] [-0.00743559 0.99996756 0.00309557 0.0618662 ] [-0.00142969 -0.00310628 0.99999415 -0.02904674] [ 0. 0. 0. 1. ]] SLAMing on 0.430888479 meters Centerline goodness : 0.199581 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.03 [[ 0.99997566 0.00682556 0.00144337 0.04648644] [-0.00682862 0.99997442 0.00212639 0.06417657] [-0.00142882 -0.0021362 0.9999967 -0.02925743] [ 0. 0. 0. 1. ]] SLAMing on 0.46088847899999996 meters Centerline goodness : 0.202649 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 0.99999313 0.00288971 0.00232159 0.04640245] [-0.00288632 0.99999476 -0.00146457 0.06752808] [-0.00232581 0.00145786 0.99999623 -0.02881449] [ 0. 0. 0. 1. ]] SLAMing on 0.490888479 meters Centerline goodness : 0.203373 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 0.99999507 0.00213776 0.00229849 0.04651435] [-0.00213382 0.99999626 -0.00171233 0.06873584] [-0.00230214 0.00170742 0.99999589 -0.02814255] [ 0. 0. 0. 1. ]] SLAMing on 0.520888479 meters Centerline goodness : 0.203474 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 0.99999712 0.00142772 0.00192876 0.04722964] [-0.0014238 0.99999692 -0.00203233 0.07079465] [-0.00193166 0.00202958 0.99999607 -0.02759423] [ 0. 0. 0. 1. ]] SLAMing on 0.550888479 meters Centerline goodness : 0.124546 Centerline is valid? [False, False] Translation: X:0.05, Y:0.08, Z:-0.03 [[ 9.99999275e-01 5.13968880e-04 1.08885569e-03 5.07048281e-02] [-5.11784747e-04 9.99997859e-01 -2.00522687e-03 7.54056132e-02] [-1.08988398e-03 2.00466816e-03 9.99997397e-01 -2.88836146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.580888479 meters Centerline goodness : 0.128654 Centerline is valid? [False, False] Translation: X:0.05, Y:0.08, Z:-0.03 [[ 9.99999341e-01 4.97138711e-04 1.03438153e-03 5.23909841e-02] [-4.95500899e-04 9.99998624e-01 -1.58302723e-03 7.53129096e-02] [-1.03516709e-03 1.58251365e-03 9.99998212e-01 -3.02608465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.610888479 meters Centerline goodness : 0.122960 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 9.99998944e-01 3.52925505e-04 1.40960994e-03 5.35245815e-02] [-3.51337296e-04 9.99999303e-01 -1.12678980e-03 7.38315990e-02] [-1.41000663e-03 1.12629336e-03 9.99998372e-01 -3.18205838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.640888479 meters Centerline goodness : 0.901875 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99998010e-01 -1.00391765e-03 1.72404405e-03 5.60793443e-02] [ 1.00465415e-03 9.99999404e-01 -4.26384618e-04 7.19203968e-02] [-1.72361497e-03 4.28115838e-04 9.99998423e-01 -3.41482442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6708884789999999 meters Centerline goodness : 0.901054 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99996961e-01 -1.86674793e-03 1.61036342e-03 5.69037758e-02] [ 1.86715442e-03 9.99998225e-01 -2.50950671e-04 7.18337525e-02] [-1.60989210e-03 2.53956705e-04 9.99998672e-01 -3.40829045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.700888479 meters Centerline goodness : 0.901054 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99996961e-01 -1.86674793e-03 1.61036342e-03 5.69037758e-02] [ 1.86715442e-03 9.99998225e-01 -2.50950671e-04 7.18337525e-02] [-1.60989210e-03 2.53956705e-04 9.99998672e-01 -3.40829045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.730888479 meters Centerline goodness : 0.902576 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99994624e-01 -2.90202689e-03 1.52666943e-03 5.78850133e-02] [ 2.90212893e-03 9.99995787e-01 -6.46274386e-05 7.20209725e-02] [-1.52647544e-03 6.90576826e-05 9.99998833e-01 -3.40916293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.760888479 meters Centerline goodness : 0.902748 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99990680e-01 -4.16877703e-03 1.12278205e-03 5.89847144e-02] [ 4.16873625e-03 9.99991310e-01 3.86589858e-05 7.19558748e-02] [-1.12293345e-03 -3.39780433e-05 9.99999369e-01 -3.36931094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.790888479 meters Centerline goodness : 0.900481 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.04 [[ 9.99939040e-01 -1.10414872e-02 4.09753920e-05 6.39191727e-02] [ 1.10415616e-02 9.99930034e-01 -4.24393849e-03 7.40377447e-02] [ 5.88686726e-06 4.24413221e-03 9.99990994e-01 -3.55406847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.820888479 meters Centerline goodness : 0.903676 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.04 [[ 9.99887736e-01 -1.49737272e-02 -5.50035386e-04 6.81383390e-02] [ 1.49692324e-02 9.99860378e-01 -7.42611216e-03 7.37305945e-02] [ 6.61155166e-04 7.41704487e-03 9.99972275e-01 -3.88988689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.850888479 meters Centerline goodness : 0.899124 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.04 [[ 0.99982766 -0.01853143 -0.00110809 0.07291499] [ 0.01851922 0.99977679 -0.01016893 0.07300746] [ 0.00129629 0.01014666 0.99994768 -0.04291479] [ 0. 0. 0. 1. ]] SLAMing on 0.880888479 meters Centerline goodness : 0.901696 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.05 [[ 0.99975403 -0.02213229 -0.00142948 0.07630541] [ 0.02211176 0.99967025 -0.01305641 0.07351728] [ 0.00171797 0.01302159 0.99991374 -0.04538499] [ 0. 0. 0. 1. ]] SLAMing on 0.9108884789999999 meters Centerline goodness : 0.134836 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.04 [[ 0.99969626 -0.02461848 -0.00114951 0.07789821] [ 0.02460187 0.99961619 -0.01273668 0.07656929] [ 0.00146263 0.01270453 0.99991822 -0.0446361 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9408884789999999 meters Centerline goodness : 0.123381 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.04 [[ 0.99974256 -0.02265935 -0.00117202 0.07819168] [ 0.0226478 0.99970236 -0.00907017 0.0771208 ] [ 0.00137719 0.00904129 0.99995818 -0.04381456] [ 0. 0. 0. 1. ]] SLAMing on 0.970888479 meters Centerline goodness : 0.910852 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.04 [[ 0.99978463 -0.02070858 -0.00135988 0.07916728] [ 0.020701 0.99977131 -0.0053666 0.07737065] [ 0.00147071 0.00533729 0.99998468 -0.04348706] [ 0. 0. 0. 1. ]] SLAMing on 1.0008884789999999 meters Centerline goodness : 0.917242 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.05 [[ 0.99969508 -0.0246331 -0.0017211 0.08318745] [ 0.02461889 0.99966616 -0.00784091 0.07966315] [ 0.00191367 0.00779615 0.99996778 -0.04531704] [ 0. 0. 0. 1. ]] SLAMing on 1.030888479 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 1.060888479 meters Centerline goodness : 0.917461 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 0.99956546 -0.02943306 -0.00160857 0.08898164] [ 0.02941381 0.99950779 -0.01090861 0.07821548] [ 0.00192885 0.01085655 0.99993921 -0.05086796] [ 0. 0. 0. 1. ]] SLAMing on 1.090888479 meters Centerline goodness : 0.916960 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 0.99942764 -0.03380489 -0.0012711 0.09158548] [ 0.03378445 0.99933614 -0.01363415 0.08053409] [ 0.00173116 0.01358341 0.99990624 -0.05255806] [ 0. 0. 0. 1. ]] SLAMing on 1.1208884789999998 meters Centerline goodness : 0.921774 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 0.99939788 -0.03467928 -0.00110515 0.09192688] [ 0.03466064 0.99930285 -0.01387296 0.08212108] [ 0.00158549 0.0138263 0.99990316 -0.0523674 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1508884789999998 meters Centerline goodness : 0.919217 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 9.99364337e-01 -3.56391113e-02 -8.80838425e-04 9.19378113e-02] [ 3.56230860e-02 9.99264962e-01 -1.41609043e-02 8.41035497e-02] [ 1.38487302e-03 1.41205245e-02 9.99899341e-01 -5.17453756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1808884789999998 meters Centerline goodness : 0.922376 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.05 [[ 9.99284495e-01 -3.78219366e-02 7.08185270e-07 9.14592883e-02] [ 3.78179890e-02 9.99179923e-01 -1.44665467e-02 8.66275556e-02] [ 5.46445207e-04 1.44562225e-02 9.99895354e-01 -5.00198652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2108884789999999 meters Centerline goodness : 0.914750 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.05 [[ 9.99249559e-01 -3.87338107e-02 1.07451044e-04 9.22849355e-02] [ 3.87313801e-02 9.99147148e-01 -1.43128527e-02 8.71497348e-02] [ 4.47031922e-04 1.43062734e-02 9.99897560e-01 -5.00764174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2408884789999999 meters Centerline goodness : 0.926232 Centerline is valid? [False, False] Translation: X:0.10, Y:0.09, Z:-0.05 [[ 9.99239184e-01 -3.89989915e-02 -3.62369041e-04 9.51216357e-02] [ 3.89903410e-02 9.99145171e-01 -1.37360819e-02 8.76601534e-02] [ 8.97752618e-04 1.37115023e-02 9.99905590e-01 -5.18371212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.270888479 meters Centerline goodness : 0.928107 Centerline is valid? [False, False] Translation: X:0.10, Y:0.09, Z:-0.06 [[ 9.99221197e-01 -3.94488869e-02 -8.86351528e-04 9.99106486e-02] [ 3.94325183e-02 9.99122996e-01 -1.40824473e-02 8.92047543e-02] [ 1.44111106e-03 1.40365287e-02 9.99900445e-01 -5.60009628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.300888479 meters Centerline goodness : 0.929663 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.06 [[ 0.999357 -0.03582137 -0.00155171 0.10832118] [ 0.03580512 0.99931391 -0.00947087 0.09078041] [ 0.0018899 0.00940922 0.99995395 -0.06333533] [ 0. 0. 0. 1. ]] SLAMing on 1.3308884789999997 meters Centerline goodness : 0.931118 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.07 [[ 0.99949295 -0.0317911 -0.00177952 0.110883 ] [ 0.03178177 0.9994821 -0.00504582 0.09224175] [ 0.00193901 0.00498671 0.99998569 -0.06535087] [ 0. 0. 0. 1. ]] SLAMing on 1.3608884789999998 meters Centerline goodness : 0.932399 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.07 [[ 9.99625672e-01 -2.72842625e-02 -2.02135423e-03 1.13527642e-01] [ 2.72837072e-02 9.99627685e-01 -3.01795309e-04 9.41051532e-02] [ 2.02883591e-03 2.46532302e-04 9.99997912e-01 -6.72051275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3908884789999998 meters Centerline goodness : 0.937754 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.07 [[ 0.99980206 -0.01975183 -0.00238951 0.11882093] [ 0.01976865 0.99977844 0.00722965 0.09641154] [ 0.00224618 -0.00727546 0.99997101 -0.07053693] [ 0. 0. 0. 1. ]] SLAMing on 1.4208884789999998 meters Centerline goodness : 0.940495 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.07 [[ 0.99982357 -0.01852019 -0.00313637 0.12212697] [ 0.01854457 0.9997966 0.00792874 0.09833281] [ 0.00298889 -0.00798551 0.99996365 -0.0722236 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4508884789999998 meters Centerline goodness : 0.939792 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.07 [[ 0.99983747 -0.01758027 -0.00399713 0.12539438] [ 0.01761317 0.99981001 0.00835033 0.10027058] [ 0.00384957 -0.00841938 0.99995715 -0.07369032] [ 0. 0. 0. 1. ]] SLAMing on 1.4808884789999999 meters Centerline goodness : 0.942100 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.08 [[ 0.99982898 -0.0178945 -0.00466878 0.13033992] [ 0.01793429 0.99980197 0.00862431 0.10105201] [ 0.00451353 -0.00870657 0.99995191 -0.07638052] [ 0. 0. 0. 1. ]] SLAMing on 1.510888479 meters Centerline goodness : 0.943520 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.08 [[ 0.99981548 -0.01851402 -0.00512149 0.13237066] [ 0.01855827 0.99978965 0.00873136 0.09952597] [ 0.00495876 -0.00882479 0.99994877 -0.07774444] [ 0. 0. 0. 1. ]] SLAMing on 1.540888479 meters Centerline goodness : 0.942867 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.08 [[ 0.99978753 -0.0198331 -0.00561638 0.13599027] [ 0.01987629 0.99977248 0.00774094 0.09876941] [ 0.00546158 -0.00785093 0.99995427 -0.08061059] [ 0. 0. 0. 1. ]] SLAMing on 1.570888479 meters Centerline goodness : 0.945801 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.08 [[ 0.99977449 -0.0203871 -0.00594362 0.13737133] [ 0.02043539 0.99975772 0.00817931 0.09713465] [ 0.00577542 -0.00829892 0.99994888 -0.0813715 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6008884789999998 meters Centerline goodness : 0.945785 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.08 [[ 0.99976271 -0.02082318 -0.00639676 0.13900329] [ 0.02087997 0.99974198 0.00894399 0.09502929] [ 0.00620887 -0.00907543 0.99993954 -0.0819348 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6308884789999998 meters Centerline goodness : 0.949593 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:-0.08 [[ 0.99966423 -0.02528909 -0.00564652 0.13915536] [ 0.02533007 0.99965244 0.00730676 0.08910934] [ 0.00545978 -0.00744733 0.99995736 -0.08108608] [ 0. 0. 0. 1. ]] SLAMing on 1.6608884789999998 meters Centerline goodness : 0.950547 Centerline is valid? [False, True] Translation: X:0.14, Y:0.08, Z:-0.08 [[ 0.99964191 -0.02614457 -0.00570278 0.13961665] [ 0.02619202 0.99962154 0.00841144 0.08415322] [ 0.0054807 -0.00855779 0.99994836 -0.08076279] [ 0. 0. 0. 1. ]] SLAMing on 1.6908884789999998 meters Centerline goodness : 0.951469 Centerline is valid? [True, True] Translation: X:0.16, Y:0.09, Z:-0.07 [[ 9.99472156e-01 -3.21625855e-02 -4.58007771e-03 1.56854414e-01] [ 3.21596527e-02 9.99482491e-01 -7.12576296e-04 9.08367549e-02] [ 4.60062577e-03 5.64906458e-04 9.99989258e-01 -6.54440816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7208884789999999 meters Centerline goodness : 0.952927 Centerline is valid? [True, True] Translation: X:0.20, Y:0.09, Z:-0.08 [[ 9.99546800e-01 -2.97498815e-02 -4.59770228e-03 1.96798354e-01] [ 2.97475690e-02 9.99557280e-01 -5.70551866e-04 8.56499501e-02] [ 4.61264064e-03 4.33522827e-04 9.99989268e-01 -7.63714338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7508884789999999 meters Centerline goodness : 0.941778 Centerline is valid? [True, False] Translation: X:0.20, Y:0.08, Z:-0.08 [[ 0.99955171 -0.0296154 -0.00439297 0.19789485] [ 0.029623 0.99955974 0.00167684 0.08071597] [ 0.00434137 -0.00180622 0.99998894 -0.07734456] [ 0. 0. 0. 1. ]] SLAMing on 1.780888479 meters Centerline goodness : 0.956686 Centerline is valid? [False, True] Translation: X:0.20, Y:0.08, Z:-0.08 [[ 0.99955823 -0.02938713 -0.00444317 0.19958559] [ 0.0294055 0.99955905 0.00412582 0.0751871 ] [ 0.00431996 -0.00425465 0.99998162 -0.07877276] [ 0. 0. 0. 1. ]] SLAMing on 1.8108884789999997 meters Centerline goodness : 0.957540 Centerline is valid? [True, True] Translation: X:0.27, Y:0.08, Z:-0.08 [[ 9.99056834e-01 -4.32554517e-02 -3.79583169e-03 2.69982769e-01] [ 4.32546274e-02 9.99064036e-01 -2.99014364e-04 8.36490793e-02] [ 3.80521293e-03 1.34545058e-04 9.99992751e-01 -7.71499911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8408884789999997 meters Centerline goodness : 0.958320 Centerline is valid? [True, True] Translation: X:0.24, Y:0.06, Z:-0.08 [[ 9.99607248e-01 -2.77705476e-02 -3.76121380e-03 2.41651429e-01] [ 2.77686990e-02 9.99614228e-01 -5.42854266e-04 6.19253060e-02] [ 3.77483819e-03 4.38197045e-04 9.99992779e-01 -8.05146030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8708884789999998 meters Centerline goodness : 0.960346 Centerline is valid? [True, True] Translation: X:0.27, Y:0.06, Z:-0.08 [[ 9.99665855e-01 -2.55833315e-02 -3.69741645e-03 2.74850750e-01] [ 2.55798345e-02 9.99672292e-01 -9.90038545e-04 5.58074865e-02] [ 3.72153326e-03 8.95128428e-04 9.99992674e-01 -7.64788950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9008884789999998 meters Centerline goodness : 0.962052 Centerline is valid? [True, True] Translation: X:0.36, Y:0.06, Z:-0.08 [[ 9.99104847e-01 -4.21418851e-02 -3.68322396e-03 3.55898428e-01] [ 4.21381387e-02 9.99111201e-01 -1.08892737e-03 6.42057228e-02] [ 3.72583977e-03 9.32748409e-04 9.99992624e-01 -7.91796898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9308884789999998 meters Centerline goodness : 0.965815 Centerline is valid? [True, True] Translation: X:0.39, Y:0.06, Z:-0.09 [[ 9.99387178e-01 -3.48014535e-02 -3.75869862e-03 3.90379790e-01] [ 3.47996577e-02 9.99394161e-01 -5.42139521e-04 5.65678627e-02] [ 3.77528870e-03 4.11005860e-04 9.99992789e-01 -8.66505482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9608884789999999 meters Centerline goodness : 0.966630 Centerline is valid? [True, True] Translation: X:0.42, Y:0.06, Z:-0.09 [[ 9.99533412e-01 -3.03120974e-02 -3.75973414e-03 4.16877785e-01] [ 3.03102982e-02 9.99540394e-01 -5.34629198e-04 5.79085665e-02] [ 3.77421187e-03 4.20421084e-04 9.99992789e-01 -8.75655568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9908884789999999 meters Centerline goodness : 0.965606 Centerline is valid? [True, True] Translation: X:0.44, Y:0.06, Z:-0.09 [[ 9.99648969e-01 -2.62267805e-02 -3.75428844e-03 4.43947915e-01] [ 2.62248066e-02 9.99655906e-01 -5.74052780e-04 5.81507785e-02] [ 3.76805217e-03 4.75395782e-04 9.99992788e-01 -8.52659545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.020888479 meters Centerline goodness : 0.967239 Centerline is valid? [True, True] Translation: X:0.47, Y:0.06, Z:-0.09 [[ 9.99769872e-01 -2.11219669e-02 -3.75028731e-03 4.72098809e-01] [ 2.11198503e-02 9.99776769e-01 -6.03094191e-04 5.69978973e-02] [ 3.76218866e-03 5.23749896e-04 9.99992786e-01 -8.83042577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.050888479 meters Centerline goodness : 0.970160 Centerline is valid? [True, True] Translation: X:0.50, Y:0.05, Z:-0.09 [[ 9.99902169e-01 -1.34769714e-02 -3.74483895e-03 5.00203417e-01] [ 1.34746569e-02 9.99909006e-01 -6.42580741e-04 4.67131818e-02] [ 3.75315823e-03 5.92057457e-04 9.99992782e-01 -9.35816611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.080888479 meters Centerline goodness : 0.971789 Centerline is valid? [True, True] Translation: X:0.53, Y:0.04, Z:-0.10 [[ 9.99914901e-01 -1.24984543e-02 -3.73880110e-03 5.33084579e-01] [ 1.24959744e-02 9.99921687e-01 -6.85901413e-04 4.25420577e-02] [ 3.74708101e-03 6.39123081e-04 9.99992775e-01 -9.64782680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.110888479 meters Centerline goodness : 0.971795 Centerline is valid? [True, True] Translation: X:0.56, Y:0.03, Z:-0.10 [[ 9.99936237e-01 -1.06552471e-02 -3.73990910e-03 5.60090717e-01] [ 1.06527839e-02 9.99943028e-01 -6.77941954e-04 3.11177733e-02] [ 3.74691967e-03 6.38058284e-04 9.99992777e-01 -9.89281522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.140888479 meters Centerline goodness : 0.972184 Centerline is valid? [True, True] Translation: X:0.59, Y:0.03, Z:-0.10 [[ 9.99935111e-01 -1.07624609e-02 -3.73407519e-03 5.87371103e-01] [ 1.07598448e-02 9.99941852e-01 -7.19972900e-04 2.85625790e-02] [ 3.74160674e-03 6.79748112e-04 9.99992769e-01 -1.01876429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1708884790000003 meters Centerline goodness : 0.973112 Centerline is valid? [True, True] Translation: X:0.62, Y:0.03, Z:-0.10 [[ 9.99906965e-01 -1.31207914e-02 -3.72900788e-03 6.17600904e-01] [ 1.31180581e-02 9.99913668e-01 -7.56500948e-04 2.69187149e-02] [ 3.73861184e-03 7.07513225e-04 9.99992761e-01 -1.04403098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.200888479 meters Centerline goodness : 0.974383 Centerline is valid? [True, True] Translation: X:0.62, Y:0.01, Z:-0.10 [[ 9.99887624e-01 -1.45193627e-02 -3.73197771e-03 6.20484959e-01] [ 1.45167183e-02 9.99894357e-01 -7.34687362e-04 1.30627656e-02] [ 3.74225064e-03 6.80428732e-04 9.99992766e-01 -9.54966213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.230888479 meters Centerline goodness : 0.974284 Centerline is valid? [True, True] Translation: X:0.65, Y:0.04, Z:-0.08 [[ 9.99408487e-01 -3.41911423e-02 -3.69343038e-03 6.49688891e-01] [ 3.41877358e-02 9.99414946e-01 -9.81565200e-04 3.59581014e-02] [ 3.72483036e-03 8.54714570e-04 9.99992698e-01 -7.77919123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.260888479 meters Centerline goodness : 0.975513 Centerline is valid? [True, True] Translation: X:0.66, Y:0.02, Z:-0.08 [[ 9.99615102e-01 -2.74945142e-02 -3.70118519e-03 6.64548201e-01] [ 2.74912446e-02 9.99621610e-01 -9.31392042e-04 2.49396181e-02] [ 3.72539287e-03 8.29283364e-04 9.99992717e-01 -7.90908851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.290888479 meters Centerline goodness : 0.976485 Centerline is valid? [True, True] Translation: X:0.71, Y:0.01, Z:-0.09 [[ 0.99989179 -0.01424521 -0.00367051 0.71483638] [ 0.01424115 0.99989795 -0.00112982 0.00651276] [ 0.00368623 0.00107742 0.99999263 -0.08799375] [ 0. 0. 0. 1. ]] SLAMing on 2.320888479 meters Centerline goodness : 0.978233 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.00, Z:-0.09 [[ 9.99864408e-01 -1.60490038e-02 -3.68703663e-03 7.50663575e-01] [ 1.60453953e-02 9.99870758e-01 -1.00619807e-03 -4.54808859e-04] [ 3.70270858e-03 9.46901679e-04 9.99992697e-01 -9.13197149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.350888479 meters Centerline goodness : 0.977943 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.00, Z:-0.08 [[ 9.99820423e-01 -1.85865411e-02 -3.69628296e-03 7.83468738e-01] [ 1.85832036e-02 9.99826880e-01 -9.35245595e-04 -2.02041970e-03] [ 3.71302604e-03 8.66388868e-04 9.99992731e-01 -8.41097491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3808884790000002 meters Centerline goodness : 0.978312 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.01, Z:-0.09 [[ 9.99824969e-01 -1.83397964e-02 -3.69907291e-03 8.15568011e-01] [ 1.83365353e-02 9.99831454e-01 -9.13593243e-04 -6.01482295e-03] [ 3.71520456e-03 8.45605155e-04 9.99992741e-01 -8.54004673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.410888479 meters Centerline goodness : 0.978873 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.01, Z:-0.08 [[ 9.99801078e-01 -1.95988446e-02 -3.69997249e-03 8.47598293e-01] [ 1.95956176e-02 9.99807577e-01 -9.06442426e-04 -5.39967660e-03] [ 3.71702575e-03 8.33758869e-04 9.99992744e-01 -8.46472566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.440888479 meters Centerline goodness : 0.981644 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.01, Z:-0.08 [[ 9.99801474e-01 -1.95783569e-02 -3.70151294e-03 8.69996756e-01] [ 1.95751737e-02 9.99807988e-01 -8.94259153e-04 -5.81825927e-03] [ 3.71831033e-03 8.21623861e-04 9.99992750e-01 -8.29429703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.470888479 meters Centerline goodness : 0.983143 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.01, Z:-0.08 [[ 9.99749108e-01 -2.20928031e-02 -3.69165838e-03 9.00828833e-01] [ 2.20893598e-02 9.99755529e-01 -9.70903770e-04 -5.73619078e-03] [ 3.71220586e-03 8.89113808e-04 9.99992714e-01 -8.12559353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.500888479 meters Centerline goodness : 0.983596 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.01, Z:-0.08 [[ 9.99519222e-01 -3.07844819e-02 -3.69325275e-03 9.47016092e-01] [ 3.07811398e-02 9.99525689e-01 -9.58408175e-04 -5.76656169e-03] [ 3.72100510e-03 8.44264864e-04 9.99992721e-01 -8.31338564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.530888479 meters Centerline goodness : 0.986309 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.00, Z:-0.09 [[ 9.99305909e-01 -3.70662028e-02 -3.71442216e-03 9.75387724e-01] [ 3.70635300e-02 9.99312602e-01 -7.85869753e-04 -2.54111750e-03] [ 3.74099808e-03 6.47654691e-04 9.99992793e-01 -8.98041537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.560888479 meters Centerline goodness : 0.985321 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.01, Z:-0.09 [[ 9.99284239e-01 -3.76460200e-02 -3.71307895e-03 1.00833071e+00] [ 3.76433111e-02 9.99290922e-01 -7.96791239e-04 -7.42724514e-03] [ 3.74044211e-03 6.56448341e-04 9.99992789e-01 -8.64548599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.590888479 meters Centerline goodness : 0.988504 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.00, Z:-0.08 [[ 9.98875073e-01 -4.72732498e-02 -3.71864066e-03 1.05614622e+00] [ 4.72707791e-02 9.98881831e-01 -7.49553112e-04 -4.06717250e-03] [ 3.74991640e-03 5.72926878e-04 9.99992805e-01 -7.94001426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.620888479 meters Centerline goodness : 0.988504 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.00, Z:-0.08 [[ 9.98906891e-01 -4.65944648e-02 -3.73890272e-03 1.08876042e+00] [ 4.65926393e-02 9.98913808e-01 -5.73930261e-04 -9.05931870e-04] [ 3.76158353e-03 3.99097547e-04 9.99992846e-01 -7.93035082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.650888479 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:1.11, Y:0.00, Z:-0.08 [[ 9.98550779e-01 -5.36875706e-02 -3.73977956e-03 1.11172186e+00] [ 5.36858227e-02 9.98557716e-01 -5.66302081e-04 2.65826640e-03] [ 3.76478912e-03 3.64708242e-04 9.99992847e-01 -7.62510205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.680888479 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:1.14, Y:0.01, Z:-0.08 [[ 9.98429866e-01 -5.58916672e-02 -3.73148485e-03 1.13832288e+00] [ 5.58896670e-02 9.98436747e-01 -6.38243259e-04 6.91869364e-03] [ 3.76132407e-03 4.28689686e-04 9.99992834e-01 -7.64034984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.710888479 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:1.19, Y:0.01, Z:-0.07 [[ 9.97685141e-01 -6.79003778e-02 -3.72807529e-03 1.18625049e+00] [ 6.78983488e-02 9.97692020e-01 -6.68292542e-04 1.34857950e-02] [ 3.76484828e-03 4.13615382e-04 9.99992827e-01 -7.37214237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.740888479 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:1.21, Y:0.01, Z:-0.08 [[ 9.97903814e-01 -6.46059633e-02 -3.74790833e-03 1.20522127e+00] [ 6.46045736e-02 9.97910822e-01 -4.90801909e-04 1.18851302e-02] [ 3.77178701e-03 2.47641078e-04 9.99992856e-01 -7.51467613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.770888479 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:1.24, Y:0.02, Z:-0.07 [[ 9.97324979e-01 -7.29995237e-02 -3.73572159e-03 1.24021561e+00] [ 7.29977907e-02 9.97331923e-01 -5.98355781e-04 1.74109764e-02] [ 3.76943409e-03 3.24055744e-04 9.99992843e-01 -6.84063483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.800888479 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:1.27, Y:0.03, Z:-0.07 [[ 9.97218478e-01 -7.44399569e-02 -3.74175328e-03 1.26888953e+00] [ 7.44384341e-02 9.97225462e-01 -5.44799808e-04 2.50817227e-02] [ 3.77192651e-03 2.64754181e-04 9.99992851e-01 -6.65531030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.830888479 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:1.31, Y:0.03, Z:-0.06 [[ 9.97092207e-01 -7.61126567e-02 -3.74086366e-03 1.30577416e+00] [ 7.61111160e-02 9.97099189e-01 -5.52722469e-04 3.26808427e-02] [ 3.77208129e-03 2.66393959e-04 9.99992850e-01 -5.78753671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.860888479 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:1.34, Y:0.05, Z:-0.06 [[ 9.96872423e-01 -7.89387336e-02 -3.74822540e-03 1.34405616e+00] [ 7.89374609e-02 9.96879451e-01 -4.86532572e-04 5.06264561e-02] [ 3.77493515e-03 1.89135508e-04 9.99992857e-01 -5.58522890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.890888479 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:1.37, Y:0.06, Z:-0.06 [[ 9.97357973e-01 -7.25461859e-02 -3.75827896e-03 1.36871349e+00] [ 7.25452100e-02 9.97365047e-01 -3.95519239e-04 6.09166356e-02] [ 3.77706948e-03 1.21829130e-04 9.99992859e-01 -6.12809243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.920888479 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:1.40, Y:0.07, Z:-0.06 [[ 9.97667396e-01 -6.81591955e-02 -3.75375600e-03 1.39611782e+00] [ 6.81580350e-02 9.97674442e-01 -4.36372062e-04 7.05882549e-02] [ 3.77476919e-03 1.79505547e-04 9.99992859e-01 -6.37532282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.950888479 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:1.43, Y:0.08, Z:-0.06 [[ 9.97796505e-01 -6.62424312e-02 -3.75175442e-03 1.43103921e+00] [ 6.62411892e-02 9.97803537e-01 -4.54473593e-04 8.02656378e-02] [ 3.77361927e-03 2.04951488e-04 9.99992859e-01 -6.15756405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.980888479 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:1.46, Y:0.09, Z:-0.06 [[ 9.98270326e-01 -5.86706332e-02 -3.75681944e-03 1.46396486e+00] [ 5.86695102e-02 9.98277377e-01 -4.08525395e-04 9.38152117e-02] [ 3.77431630e-03 1.87408022e-04 9.99992860e-01 -5.79111021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.010888479 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:1.50, Y:0.11, Z:-0.06 [[ 9.98343225e-01 -5.74165941e-02 -3.76030453e-03 1.49816125e+00] [ 5.74155812e-02 9.98350294e-01 -3.76864444e-04 1.05122868e-01] [ 3.77573941e-03 1.60339994e-04 9.99992859e-01 -5.55577641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.040888479 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:1.52, Y:0.12, Z:-0.06 [[ 9.98742159e-01 -4.99993616e-02 -3.76340436e-03 1.51806586e+00] [ 4.99984021e-02 9.98749237e-01 -3.48666742e-04 1.15828647e-01] [ 3.77613035e-03 1.60063970e-04 9.99992858e-01 -5.74021370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.070888479 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:1.55, Y:0.13, Z:-0.03 [[ 9.98706563e-01 -5.07060255e-02 -3.75493908e-03 1.54875466e+00] [ 5.07047838e-02 9.98713595e-01 -4.25210927e-04 1.26283502e-01] [ 3.77166946e-03 2.34267570e-04 9.99992860e-01 -3.33028363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.100888479 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:1.58, Y:0.14, Z:-0.04 [[ 9.98696241e-01 -5.09088412e-02 -3.75607072e-03 1.57945384e+00] [ 5.09076392e-02 9.98703279e-01 -4.14967904e-04 1.36823525e-01] [ 3.77232568e-03 2.23214193e-04 9.99992860e-01 -3.92963122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1308884790000002 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:1.61, Y:0.14, Z:-0.05 [[ 9.98621826e-01 -5.23482597e-02 -3.75609200e-03 1.61159794e+00] [ 5.23470686e-02 9.98628866e-01 -4.14775160e-04 1.42385653e-01] [ 3.77265466e-03 2.17583122e-04 9.99992860e-01 -5.33647495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.160888479 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:1.64, Y:0.15, Z:-0.03 [[ 9.98586388e-01 -5.30197684e-02 -3.75895153e-03 1.63924631e+00] [ 5.30186798e-02 9.98593445e-01 -3.88749810e-04 1.48619691e-01] [ 3.77427579e-03 1.88905621e-04 9.99992860e-01 -3.47786297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.190888479 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:1.68, Y:0.15, Z:-0.04 [[ 9.98483550e-01 -5.49225993e-02 -3.75623676e-03 1.67620828e+00] [ 5.49214315e-02 9.98490594e-01 -4.13415825e-04 1.54421765e-01] [ 3.77327295e-03 2.06491000e-04 9.99992860e-01 -3.74932357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.220888479 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:1.70, Y:0.16, Z:-0.02 [[ 9.98576576e-01 -5.32040452e-02 -3.76194315e-03 1.70044387e+00] [ 5.32030606e-02 9.98583649e-01 -3.61393788e-04 1.64045066e-01] [ 3.77584253e-03 1.60732482e-04 9.99992859e-01 -2.48368791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.250888479 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:1.74, Y:0.17, Z:-0.03 [[ 9.98519527e-01 -5.42645245e-02 -3.75702507e-03 1.74061650e+00] [ 5.42633798e-02 9.98526575e-01 -4.06043970e-04 1.70040894e-01] [ 3.77352316e-03 2.01573955e-04 9.99992860e-01 -3.30694466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.280888479 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:1.76, Y:0.18, Z:-0.03 [[ 9.98613623e-01 -5.25038391e-02 -3.76540494e-03 1.76064129e+00] [ 5.25029627e-02 9.98620713e-01 -3.31308670e-04 1.78933260e-01] [ 3.77760635e-03 1.33154436e-04 9.99992856e-01 -3.06308837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.310888479 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:1.79, Y:0.19, Z:-0.03 [[ 9.98912455e-01 -4.64738760e-02 -3.75322357e-03 1.79319038e+00] [ 4.64725521e-02 9.98919471e-01 -4.39226365e-04 1.86010670e-01] [ 3.76958066e-03 2.64326808e-04 9.99992860e-01 -3.02299720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.340888479 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:1.83, Y:0.19, Z:-0.04 [[ 9.98875386e-01 -4.72637491e-02 -3.75524152e-03 1.82749716e+00] [ 4.72624978e-02 9.98882415e-01 -4.21309637e-04 1.91992994e-01] [ 3.77095739e-03 2.43353732e-04 9.99992860e-01 -3.53892159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.370888479 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:1.86, Y:0.20, Z:-0.04 [[ 9.99004565e-01 -4.44493338e-02 -3.75968943e-03 1.85938990e+00] [ 4.44482119e-02 9.99011617e-01 -3.81480203e-04 1.96456220e-01] [ 3.77292996e-03 2.13988992e-04 9.99992860e-01 -3.81626895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.400888479 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:1.89, Y:0.20, Z:-0.04 [[ 9.99298992e-01 -3.72476710e-02 -3.75971043e-03 1.89289386e+00] [ 3.72464990e-02 9.99306036e-01 -3.81288690e-04 2.01019625e-01] [ 3.77130344e-03 2.40985353e-04 9.99992860e-01 -3.50247856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.430888479 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:1.93, Y:0.21, Z:-0.04 [[ 9.99339198e-01 -3.61525624e-02 -3.76282290e-03 1.92618944e+00] [ 3.61514892e-02 9.99346259e-01 -3.52837201e-04 2.07125583e-01] [ 3.77311895e-03 2.16572394e-04 9.99992858e-01 -3.56202576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.460888479 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:1.95, Y:0.21, Z:-0.04 [[ 9.99512486e-01 -3.09937528e-02 -3.76523130e-03 1.95268481e+00] [ 3.09927259e-02 9.99519555e-01 -3.30802896e-04 2.09978462e-01] [ 3.77367514e-03 2.13946843e-04 9.99992857e-01 -3.60013075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.490888479 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:1.98, Y:0.21, Z:-0.04 [[ 9.99486304e-01 -3.18275726e-02 -3.75935376e-03 1.98498687e+00] [ 3.18263510e-02 9.99493339e-01 -3.84346914e-04 2.12937405e-01] [ 3.76968187e-03 2.64502965e-04 9.99992860e-01 -3.54211034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.520888479 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:2.02, Y:0.21, Z:-0.03 [[ 9.99449283e-01 -3.29696229e-02 -3.75964412e-03 2.01697224e+00] [ 3.29684192e-02 9.99456321e-01 -3.81704115e-04 2.12371399e-01] [ 3.77018472e-03 2.57544380e-04 9.99992860e-01 -3.39866344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.550888479 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:2.05, Y:0.21, Z:-0.03 [[ 9.99407018e-01 -3.42269029e-02 -3.75931952e-03 2.04732455e+00] [ 3.42256970e-02 9.99414055e-01 -3.84654486e-04 2.10688808e-01] [ 3.77028230e-03 2.55761061e-04 9.99992860e-01 -3.31137014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.580888479 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:2.08, Y:0.20, Z:-0.03 [[ 9.99162482e-01 -4.07457347e-02 -3.75772242e-03 2.08300904e+00] [ 4.07445204e-02 9.99169518e-01 -3.99162485e-04 2.04345572e-01] [ 3.77086587e-03 2.45721581e-04 9.99992860e-01 -3.09882977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6108884789999998 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:2.11, Y:0.20, Z:-0.03 [[ 9.99060452e-01 -4.31748020e-02 -3.76154844e-03 2.11459288e+00] [ 4.31737356e-02 9.99067513e-01 -3.64259520e-04 2.03653189e-01] [ 3.77376768e-03 2.01517183e-04 9.99992859e-01 -2.79655913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.640888479 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:2.15, Y:0.20, Z:-0.03 [[ 9.99017255e-01 -4.41631334e-02 -3.76053176e-03 2.14567578e+00] [ 4.41620394e-02 9.99024311e-01 -3.73506786e-04 2.04160145e-01] [ 3.77335788e-03 2.07066972e-04 9.99992859e-01 -2.89490147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.670888479 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:2.18, Y:0.20, Z:-0.03 [[ 9.98934190e-01 -4.60037784e-02 -3.75972401e-03 2.17643711e+00] [ 4.60026695e-02 9.98941244e-01 -3.80921759e-04 2.00994460e-01] [ 3.77326722e-03 2.07558428e-04 9.99992860e-01 -2.88967060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.700888479 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:2.21, Y:0.20, Z:-0.03 [[ 9.98956606e-01 -4.55145766e-02 -3.75806474e-03 2.20867979e+00] [ 4.55134072e-02 9.98963649e-01 -3.96149806e-04 1.96991073e-01] [ 3.77220066e-03 2.24694135e-04 9.99992860e-01 -2.91659680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.730888479 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:2.24, Y:0.19, Z:-0.03 [[ 9.98898913e-01 -4.67636713e-02 -3.75773299e-03 2.24303333e+00] [ 4.67624994e-02 9.98905956e-01 -3.99180621e-04 1.93356400e-01] [ 3.77228901e-03 2.23020102e-04 9.99992860e-01 -2.79828922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.760888479 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:2.27, Y:0.19, Z:-0.03 [[ 9.98957134e-01 -4.55028394e-02 -3.75983888e-03 2.27305231e+00] [ 4.55017316e-02 9.98964188e-01 -3.79700093e-04 1.89092076e-01] [ 3.77322183e-03 2.08224937e-04 9.99992860e-01 -2.96541457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.790888479 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:2.31, Y:0.19, Z:-0.03 [[ 9.98659120e-01 -5.16318521e-02 -3.75677346e-03 2.30684169e+00] [ 5.16306814e-02 9.98666164e-01 -4.08002352e-04 1.85741940e-01] [ 3.77282845e-03 2.13490497e-04 9.99992860e-01 -2.99038930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.820888479 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:2.34, Y:0.19, Z:-0.03 [[ 9.98558689e-01 -5.35388724e-02 -3.75956275e-03 2.33652086e+00] [ 5.35378109e-02 9.98565750e-01 -3.82496253e-04 1.85802848e-01] [ 3.77464901e-03 1.80666198e-04 9.99992860e-01 -2.98629635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.850888479 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:2.37, Y:0.19, Z:-0.03 [[ 9.98367800e-01 -5.69879355e-02 -3.75634653e-03 2.37200438e+00] [ 5.69867882e-02 9.98374848e-01 -4.11831659e-04 1.87406886e-01] [ 3.77371133e-03 1.97097344e-04 9.99992860e-01 -2.62845172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.880888479 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:2.41, Y:0.18, Z:-0.03 [[ 9.98041313e-01 -6.24451767e-02 -3.75996291e-03 2.40711799e+00] [ 6.24441932e-02 9.98048385e-01 -3.78518391e-04 1.83132317e-01] [ 3.77626156e-03 1.42989141e-04 9.99992860e-01 -2.95953996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.910888479 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:2.44, Y:0.18, Z:-0.03 [[ 9.97757643e-01 -6.68245383e-02 -3.76391471e-03 2.43846248e+00] [ 6.68237233e-02 9.97764738e-01 -3.42016347e-04 1.83303651e-01] [ 3.77835646e-03 8.97306289e-05 9.99992858e-01 -2.88965975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.940888479 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:2.47, Y:0.18, Z:-0.03 [[ 9.97721211e-01 -6.73664039e-02 -3.76204688e-03 2.46815170e+00] [ 6.73655289e-02 9.97728298e-01 -3.58962475e-04 1.81336978e-01] [ 3.77768264e-03 1.04712198e-04 9.99992859e-01 -2.62559387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.970888479 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:2.50, Y:0.18, Z:-0.03 [[ 9.97523524e-01 -7.02331010e-02 -3.75914030e-03 2.50146378e+00] [ 7.02321473e-02 9.97530600e-01 -3.85288388e-04 1.82449561e-01] [ 3.77691747e-03 1.20321735e-04 9.99992860e-01 -2.66050716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.000888478999999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:2.53, Y:0.18, Z:-0.02 [[ 9.97635197e-01 -6.86285351e-02 -3.76005080e-03 2.53040532e+00] [ 6.86276009e-02 9.97642276e-01 -3.77069079e-04 1.80670166e-01] [ 3.77706333e-03 1.18134120e-04 9.99992860e-01 -2.42550489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030888479 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:2.56, Y:0.18, Z:-0.02 [[ 9.97634831e-01 -6.86341018e-02 -3.75563040e-03 2.56294597e+00] [ 6.86330179e-02 9.97641887e-01 -4.16891000e-04 1.83692170e-01] [ 3.77538714e-03 1.58144734e-04 9.99992861e-01 -2.29058324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.060888479 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:2.60, Y:0.19, Z:-0.02 [[ 9.97652780e-01 -6.83727015e-02 -3.75566792e-03 2.59541908e+00] [ 6.83716170e-02 9.97659836e-01 -4.16552659e-04 1.86299744e-01] [ 3.77535988e-03 1.58793830e-04 9.99992861e-01 -1.77038399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090888479 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:2.63, Y:0.19, Z:-0.01 [[ 9.97781144e-01 -6.64731772e-02 -3.75571101e-03 2.62622826e+00] [ 6.64720807e-02 9.97788199e-01 -4.16163812e-04 1.86620721e-01] [ 3.77506785e-03 1.65590479e-04 9.99992861e-01 -1.39380193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1208884789999995 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:2.66, Y:0.19, Z:-0.01 [[ 9.97922464e-01 -6.43168005e-02 -3.75572526e-03 2.65796016e+00] [ 6.43156892e-02 9.97929516e-01 -4.16035176e-04 1.88448788e-01] [ 3.77470714e-03 1.73618790e-04 9.99992861e-01 -1.00087008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150888479 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:2.69, Y:0.19, Z:-0.01 [[ 9.98144695e-01 -6.07705761e-02 -3.75574954e-03 2.68921397e+00] [ 6.07694406e-02 9.98151743e-01 -4.15815856e-04 1.90423013e-01] [ 3.77407732e-03 1.86809592e-04 9.99992861e-01 -8.42623169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.180888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:2.72, Y:0.19, Z:-0.01 [[ 9.98345656e-01 -5.73746067e-02 -3.75576766e-03 2.72144556e+00] [ 5.73734479e-02 9.98352701e-01 -4.15652157e-04 1.93841727e-01] [ 3.77342866e-03 1.99483185e-04 9.99992861e-01 -7.53166459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:2.75, Y:0.20, Z:-0.01 [[ 9.98713106e-01 -5.05769274e-02 -3.75579178e-03 2.75403848e+00] [ 5.05757215e-02 9.98720143e-01 -4.15434125e-04 1.96335670e-01] [ 3.77199628e-03 2.24947626e-04 9.99992861e-01 -6.19462915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.240888479 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:2.79, Y:0.20, Z:-0.01 [[ 9.98841473e-01 -4.79750580e-02 -3.75582639e-03 2.78584609e+00] [ 4.79738349e-02 9.98848506e-01 -4.15120995e-04 1.98672747e-01] [ 3.77141703e-03 2.34458671e-04 9.99992861e-01 -6.99303313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.270888479 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:2.82, Y:0.20, Z:-0.01 [[ 9.98940666e-01 -4.58632606e-02 -3.75585502e-03 2.81651735e+00] [ 4.58620236e-02 9.98947698e-01 -4.14861770e-04 2.00641809e-01] [ 3.77092964e-03 2.42171181e-04 9.99992861e-01 -8.81316942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.300888479 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:2.85, Y:0.20, Z:-0.01 [[ 9.98989868e-01 -4.47787580e-02 -3.75587632e-03 2.84885600e+00] [ 4.47775141e-02 9.98996898e-01 -4.14668784e-04 2.01768818e-01] [ 3.77067715e-03 2.46071109e-04 9.99992861e-01 -9.28251828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330888479 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:2.88, Y:0.20, Z:-0.01 [[ 9.99044571e-01 -4.35412359e-02 -3.75590416e-03 2.88087463e+00] [ 4.35399842e-02 9.99051599e-01 -4.14416539e-04 1.97490563e-01] [ 3.77038626e-03 2.50488585e-04 9.99992861e-01 -1.15606105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.360888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:2.91, Y:0.20, Z:-0.01 [[ 9.99029939e-01 -4.38757418e-02 -3.75495921e-03 2.91249215e+00] [ 4.38744604e-02 9.99036963e-01 -4.22985009e-04 1.99458246e-01] [ 3.76990182e-03 2.57827879e-04 9.99992861e-01 -7.62981881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390888479 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:2.94, Y:0.20, Z:-0.01 [[ 9.99107628e-01 -4.20694612e-02 -3.75595942e-03 2.94475357e+00] [ 4.20682011e-02 9.99114656e-01 -4.13908684e-04 2.03169496e-01] [ 3.77004702e-03 2.55532867e-04 9.99992861e-01 -8.92717326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.420888479 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:2.98, Y:0.20, Z:-0.01 [[ 9.99146173e-01 -4.11438695e-02 -3.75598813e-03 2.97641447e+00] [ 4.11426039e-02 9.99153199e-01 -4.13647969e-04 2.04722198e-01] [ 3.76982664e-03 2.58763653e-04 9.99992861e-01 -1.26704564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.450888479 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:3.01, Y:0.20, Z:-0.01 [[ 9.99164263e-01 -4.07021724e-02 -3.75602439e-03 3.00853214e+00] [ 4.07009049e-02 9.99171289e-01 -4.13318508e-04 2.03756545e-01] [ 3.76973469e-03 2.60099491e-04 9.99992861e-01 -9.09048781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.480888479 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:3.04, Y:0.20, Z:-0.01 [[ 9.99158422e-01 -4.08453244e-02 -3.75605091e-03 3.04067606e+00] [ 4.08440588e-02 9.99165448e-01 -4.13077331e-04 2.01658661e-01] [ 3.76978857e-03 2.59317329e-04 9.99992861e-01 -7.59495017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510888479 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:3.07, Y:0.20, Z:-0.01 [[ 9.99120664e-01 -4.17587288e-02 -3.75607198e-03 3.07289722e+00] [ 4.17574703e-02 9.99127691e-01 -4.12885666e-04 1.98991187e-01] [ 3.77003711e-03 2.55678537e-04 9.99992861e-01 -6.96358978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.540888479 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:3.11, Y:0.20, Z:-0.01 [[ 9.99123519e-01 -4.16903456e-02 -3.75610013e-03 3.10538779e+00] [ 4.16890876e-02 9.99130547e-01 -4.12629464e-04 2.02502628e-01] [ 3.77003704e-03 2.55679415e-04 9.99992861e-01 -6.84013840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570888479 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:3.14, Y:0.21, Z:-0.01 [[ 9.99156849e-01 -4.08837579e-02 -3.75612835e-03 3.13642817e+00] [ 4.08824952e-02 9.99163876e-01 -4.12372384e-04 2.05892507e-01] [ 3.76984710e-03 2.58464793e-04 9.99992861e-01 -7.55523997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.600888479 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:3.17, Y:0.21, Z:-0.01 [[ 9.99233771e-01 -3.89584751e-02 -3.75614937e-03 3.16873318e+00] [ 3.89571996e-02 9.99240795e-01 -4.12180812e-04 2.10035644e-01] [ 3.76935562e-03 2.65535927e-04 9.99992861e-01 -7.53759148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630888479 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:3.20, Y:0.21, Z:-0.01 [[ 9.99295689e-01 -3.73365398e-02 -3.75617712e-03 3.20068389e+00] [ 3.73352538e-02 9.99302711e-01 -4.11927799e-04 2.14530934e-01] [ 3.76893794e-03 2.71399848e-04 9.99992861e-01 -6.52894762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.660888479 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:3.23, Y:0.21, Z:-0.01 [[ 9.99330822e-01 -3.63840466e-02 -3.75620471e-03 3.23373823e+00] [ 3.63827549e-02 9.99337844e-01 -4.11676055e-04 2.13221627e-01] [ 3.76869596e-03 2.74739495e-04 9.99992861e-01 -1.16253046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.690888479 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:3.27, Y:0.21, Z:-0.01 [[ 9.99307396e-01 -3.70218687e-02 -3.75624128e-03 3.26641272e+00] [ 3.70205827e-02 9.99314419e-01 -4.11342119e-04 2.11452855e-01] [ 3.76889472e-03 2.71998981e-04 9.99992861e-01 -1.42601771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.720888479 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:3.30, Y:0.21, Z:-0.02 [[ 9.99271354e-01 -3.79822414e-02 -3.75626953e-03 3.29832932e+00] [ 3.79809631e-02 9.99278378e-01 -4.11084018e-04 2.08953702e-01] [ 3.76917281e-03 2.68117749e-04 9.99992861e-01 -1.56221720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750888479 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:3.33, Y:0.21, Z:-0.01 [[ 9.99092481e-01 -4.24276505e-02 -3.75629066e-03 3.33123305e+00] [ 4.24264042e-02 9.99099510e-01 -4.10890836e-04 2.05998758e-01] [ 3.77034129e-03 2.51152039e-04 9.99992861e-01 -6.32942591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.780888479 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:3.36, Y:0.21, Z:-0.00 [[ 9.98981847e-01 -4.49573137e-02 -3.75631835e-03 3.36379961e+00] [ 4.49560861e-02 9.98988880e-01 -4.10637488e-04 2.08268529e-01] [ 3.77098142e-03 2.41350024e-04 9.99992861e-01 -2.46917907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810888479 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:3.40, Y:0.21, Z:-0.00 [[ 9.98690217e-01 -5.10268638e-02 -3.75634595e-03 3.39619067e+00] [ 5.10256799e-02 9.98697257e-01 -4.10384889e-04 2.08186451e-01] [ 3.77239305e-03 2.18177267e-04 9.99992861e-01 -4.33323650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.840888479 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:3.43, Y:0.21, Z:-0.01 [[ 9.98606001e-01 -5.26492525e-02 -3.75637344e-03 3.42823413e+00] [ 5.26480810e-02 9.98613044e-01 -4.10133158e-04 2.07437195e-01] [ 3.77275671e-03 2.11795580e-04 9.99992861e-01 -6.27334357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8708884789999995 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:3.46, Y:0.21, Z:-0.01 [[ 9.98483249e-01 -5.49280469e-02 -3.75640089e-03 3.45778402e+00] [ 5.49268924e-02 9.98490295e-01 -4.09881525e-04 2.06863314e-01] [ 3.77324383e-03 2.02932409e-04 9.99992861e-01 -1.28572730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.900888479 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:3.49, Y:0.20, Z:-0.01 [[ 9.98250675e-01 -5.90041967e-02 -3.75418519e-03 3.48939178e+00] [ 5.90029948e-02 9.98257713e-01 -4.30190840e-04 2.02338386e-01] [ 3.77302739e-03 2.07930127e-04 9.99992860e-01 -1.31435631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930888479 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:3.52, Y:0.20, Z:-0.01 [[ 9.98143577e-01 -6.07890166e-02 -3.75423324e-03 3.52124015e+00] [ 6.07878290e-02 9.98150617e-01 -4.29750237e-04 2.02926288e-01] [ 3.77341432e-03 2.00740751e-04 9.99992860e-01 -9.64942202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.960888479 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:3.55, Y:0.21, Z:-0.01 [[ 9.98028904e-01 -6.26433943e-02 -3.75649347e-03 3.55202717e+00] [ 6.26422977e-02 9.98035959e-01 -4.08990476e-04 2.06129195e-01] [ 3.77473611e-03 1.72868934e-04 9.99992861e-01 -9.80658401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990888479 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:3.58, Y:0.21, Z:-0.01 [[ 9.97842713e-01 -6.55424213e-02 -3.75650705e-03 3.58334758e+00] [ 6.55413457e-02 9.97849771e-01 -4.08865736e-04 2.09933897e-01] [ 3.77522775e-03 1.61777168e-04 9.99992861e-01 -6.35158353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.020888479 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:3.62, Y:0.21, Z:-0.00 [[ 9.97725926e-01 -6.72968487e-02 -3.75652067e-03 3.61527867e+00] [ 6.72957859e-02 9.97732985e-01 -4.08740567e-04 2.13833258e-01] [ 3.77551153e-03 1.55013050e-04 9.99992861e-01 -4.08538842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050888479 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:3.65, Y:0.22, Z:-0.00 [[ 9.97567102e-01 -6.96115323e-02 -3.75654888e-03 3.64724272e+00] [ 6.96104868e-02 9.97574164e-01 -4.08481084e-04 2.17037851e-01] [ 3.77587111e-03 1.45992095e-04 9.99992861e-01 -3.08162032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0808884789999995 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:3.68, Y:0.22, Z:-0.00 [[ 9.97444079e-01 -7.13526236e-02 -3.75657742e-03 3.67823677e+00] [ 7.13515915e-02 9.97451144e-01 -4.08218481e-04 2.19586273e-01] [ 3.77612990e-03 1.39137330e-04 9.99992861e-01 -3.23583908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110888479 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:3.71, Y:0.22, Z:-0.00 [[ 9.97176431e-01 -7.50003543e-02 -3.75659876e-03 3.71031810e+00] [ 7.49993488e-02 9.97183499e-01 -4.08022039e-04 2.22896743e-01] [ 3.77662009e-03 1.25127500e-04 9.99992861e-01 -4.07216878e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.140888479 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:3.74, Y:0.23, Z:0.00 [[ 9.97001997e-01 -7.72845737e-02 -3.75662715e-03 3.74231027e+00] [ 7.72835854e-02 9.97009068e-01 -4.07760480e-04 2.28103602e-01] [ 3.77690492e-03 1.16212398e-04 9.99992861e-01 3.12624481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170888479 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:3.77, Y:0.23, Z:0.01 [[ 9.96906084e-01 -7.85120876e-02 -3.75665601e-03 3.77301754e+00] [ 7.85111090e-02 9.96913156e-01 -4.07494428e-04 2.34477735e-01] [ 3.77705303e-03 1.11294446e-04 9.99992861e-01 6.41623679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.200888479 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:3.80, Y:0.24, Z:0.01 [[ 9.96940282e-01 -7.80766384e-02 -3.75670278e-03 3.80334941e+00] [ 7.80756583e-02 9.96947354e-01 -4.07062776e-04 2.41931102e-01] [ 3.77701699e-03 1.12510237e-04 9.99992861e-01 8.19869544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.230888479 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:3.83, Y:0.25, Z:0.00 [[ 9.97541985e-01 -6.99705238e-02 -3.75672378e-03 3.83466407e+00] [ 6.99694870e-02 9.97549049e-01 -4.06868888e-04 2.51967891e-01] [ 3.77598506e-03 1.43012763e-04 9.99992861e-01 4.86533096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.260888479 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:3.87, Y:0.26, Z:0.00 [[ 9.97986057e-01 -6.33223225e-02 -3.75675242e-03 3.86518228e+00] [ 6.33212397e-02 9.97993114e-01 -4.06604234e-04 2.57988679e-01] [ 3.77496017e-03 1.67903135e-04 9.99992861e-01 3.36388800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2908884789999995 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:3.90, Y:0.26, Z:0.00 [[ 9.98428819e-01 -5.59086813e-02 -3.75679927e-03 3.89570258e+00] [ 5.59075477e-02 9.98435867e-01 -4.06170878e-04 2.63180967e-01] [ 3.77363162e-03 1.95499275e-04 9.99992861e-01 2.58790443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.320888479 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:3.93, Y:0.27, Z:0.01 [[ 9.99044819e-01 -4.35354522e-02 -3.75682031e-03 3.92643946e+00] [ 4.35342321e-02 9.99051853e-01 -4.05976238e-04 2.68682892e-01] [ 3.77093265e-03 2.42038170e-04 9.99992861e-01 5.41216570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350888479 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:3.96, Y:0.27, Z:0.01 [[ 9.99263231e-01 -3.81953065e-02 -3.75683426e-03 3.95760023e+00] [ 3.81940493e-02 9.99270259e-01 -4.05847063e-04 2.73420631e-01] [ 3.76959420e-03 2.62059334e-04 9.99992861e-01 7.17130068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.380888479 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:3.99, Y:0.28, Z:0.01 [[ 9.99405453e-01 -3.42728285e-02 -3.75685510e-03 3.98873071e+00] [ 3.42715445e-02 9.99412476e-01 -4.05654027e-04 2.78866609e-01] [ 3.76855077e-03 2.76659620e-04 9.99992861e-01 7.98151445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.410888479 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:4.02, Y:0.28, Z:0.01 [[ 9.99480884e-01 -3.19976222e-02 -3.75687562e-03 4.01954376e+00] [ 3.19963228e-02 9.99487904e-01 -4.05463900e-04 2.84597146e-01] [ 3.76792563e-03 2.85047212e-04 9.99992861e-01 6.35348966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.440888479 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:4.05, Y:0.29, Z:0.00 [[ 9.99519901e-01 -3.07547153e-02 -3.75688962e-03 4.05063808e+00] [ 3.07534077e-02 9.99526920e-01 -4.05334159e-04 2.88246351e-01] [ 3.76757825e-03 2.89602400e-04 9.99992861e-01 3.95004843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470888479 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:4.08, Y:0.29, Z:0.00 [[ 9.99499328e-01 -3.14162113e-02 -3.75691049e-03 4.08182259e+00] [ 3.14149091e-02 9.99506348e-01 -4.05140614e-04 2.88033108e-01] [ 3.76778387e-03 2.86914770e-04 9.99992861e-01 1.22860793e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.500888479 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:4.11, Y:0.29, Z:-0.00 [[ 9.99445284e-01 -3.30909231e-02 -3.75692449e-03 4.11354937e+00] [ 3.30896332e-02 9.99452306e-01 -4.05010766e-04 2.86538294e-01] [ 3.76826903e-03 2.80470847e-04 9.99992861e-01 -3.61474087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530888479 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:4.15, Y:0.28, Z:-0.01 [[ 9.99269201e-01 -3.80387981e-02 -3.75694541e-03 4.14582800e+00] [ 3.80375437e-02 9.99276229e-01 -4.04816632e-04 2.82615586e-01] [ 3.76962498e-03 2.61615817e-04 9.99992861e-01 -5.92067686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.560888479 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:4.18, Y:0.29, Z:-0.00 [[ 9.99169783e-01 -4.05663722e-02 -3.75696600e-03 4.17724591e+00] [ 4.05651362e-02 9.99176814e-01 -4.04625495e-04 2.85103459e-01] [ 3.77028750e-03 2.51887730e-04 9.99992861e-01 -3.19329675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590888479 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:4.21, Y:0.29, Z:0.00 [[ 9.99018932e-01 -4.41254961e-02 -3.75697977e-03 4.20794081e+00] [ 4.41242857e-02 9.99025968e-01 -4.04497555e-04 2.88240159e-01] [ 3.77116901e-03 2.38326666e-04 9.99992861e-01 9.99022854e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6208884789999995 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:4.24, Y:0.29, Z:0.00 [[ 9.98857024e-01 -4.76500740e-02 -3.75702545e-03 4.24046243e+00] [ 4.76488900e-02 9.98864065e-01 -4.04072800e-04 2.90059239e-01] [ 3.77201182e-03 2.24592862e-04 9.99992861e-01 1.95340619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650888479 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:4.27, Y:0.28, Z:0.00 [[ 9.98376357e-01 -5.68377973e-02 -3.75705269e-03 4.27241315e+00] [ 5.68366791e-02 9.98383408e-01 -4.03819377e-04 2.84552514e-01] [ 3.77393127e-03 1.89625320e-04 9.99992861e-01 1.59094405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.680888479 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:4.30, Y:0.28, Z:0.00 [[ 9.98259732e-01 -5.88505946e-02 -3.75707301e-03 4.30118377e+00] [ 5.88494914e-02 9.98266785e-01 -4.03630289e-04 2.80692329e-01] [ 3.77431507e-03 1.81826028e-04 9.99992861e-01 1.57441595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710888479 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:4.33, Y:0.28, Z:0.01 [[ 9.97957143e-01 -6.37765144e-02 -3.75448866e-03 4.33260028e+00] [ 6.37753552e-02 9.97964188e-01 -4.27787072e-04 2.79964876e-01] [ 3.77412800e-03 1.87469316e-04 9.99992860e-01 5.09863828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.740888479 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:4.36, Y:0.28, Z:0.00 [[ 9.97619721e-01 -6.88532367e-02 -3.75808142e-03 4.36239580e+00] [ 6.88522398e-02 9.97626791e-01 -3.94161022e-04 2.79300904e-01] [ 3.77630197e-03 1.34470486e-04 9.99992861e-01 3.07594752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.770888479 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:4.39, Y:0.28, Z:0.01 [[ 9.97630339e-01 -6.86992704e-02 -3.75729838e-03 4.39062204e+00] [ 6.86982449e-02 9.97637404e-01 -4.01489067e-04 2.81776941e-01] [ 3.77600341e-03 1.42417870e-04 9.99992861e-01 6.88577735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.800888479 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:4.42, Y:0.29, Z:0.01 [[ 9.97446984e-01 -7.13121582e-02 -3.75380236e-03 4.42248477e+00] [ 7.13110282e-02 9.97454033e-01 -4.34176282e-04 2.86633699e-01] [ 3.77520735e-03 1.65380317e-04 9.99992860e-01 6.04750650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8308884789999995 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:4.45, Y:0.29, Z:0.01 [[ 9.97516201e-01 -7.03371246e-02 -3.75731303e-03 4.45373604e+00] [ 7.03361113e-02 9.97523268e-01 -4.01306957e-04 2.88237530e-01] [ 3.77623395e-03 1.36035404e-04 9.99992861e-01 6.58626034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.860888479 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:4.49, Y:0.29, Z:0.01 [[ 9.97575009e-01 -6.94980834e-02 -3.75732712e-03 4.48569407e+00] [ 6.94970647e-02 9.97582075e-01 -4.01174992e-04 2.88425246e-01] [ 3.77612308e-03 1.39078940e-04 9.99992861e-01 6.86567382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890888479 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:4.52, Y:0.29, Z:0.01 [[ 9.97628240e-01 -6.87297357e-02 -3.75734121e-03 4.51702748e+00] [ 6.87287120e-02 9.97635306e-01 -4.01043038e-04 2.87767452e-01] [ 3.77601982e-03 1.41854639e-04 9.99992861e-01 5.19690177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920888479 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:4.55, Y:0.29, Z:0.00 [[ 9.97645295e-01 -6.84817283e-02 -3.75735544e-03 4.54704867e+00] [ 6.84807034e-02 9.97652361e-01 -4.00909653e-04 2.92870484e-01] [ 3.77598951e-03 1.42659286e-04 9.99992861e-01 2.79788416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950888479 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:4.58, Y:0.30, Z:0.00 [[ 9.97723386e-01 -6.73344361e-02 -3.75736252e-03 4.57803575e+00] [ 6.73334033e-02 9.97730451e-01 -4.00843269e-04 2.99416473e-01] [ 3.77582556e-03 1.46934698e-04 9.99992861e-01 3.98197470e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.980888479 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:4.61, Y:0.31, Z:0.00 [[ 9.97817962e-01 -6.59181021e-02 -3.75737661e-03 4.60781144e+00] [ 6.59170597e-02 9.97825025e-01 -4.00711179e-04 3.05312484e-01] [ 3.77561853e-03 1.52161594e-04 9.99992861e-01 6.37139534e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010888479 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:4.64, Y:0.31, Z:0.00 [[ 9.97961631e-01 -6.37060885e-02 -3.75738362e-03 4.63877282e+00] [ 6.37050307e-02 9.97968691e-01 -4.00645415e-04 3.08820966e-01] [ 3.77527476e-03 1.60464513e-04 9.99992861e-01 4.77369204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0408884789999995 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:4.67, Y:0.31, Z:0.01 [[ 9.97978647e-01 -6.34389641e-02 -3.75739748e-03 4.66867579e+00] [ 6.34379050e-02 9.97985707e-01 -4.00515419e-04 3.11053274e-01] [ 3.77523726e-03 1.61344412e-04 9.99992861e-01 6.37999658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070888479 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:4.70, Y:0.31, Z:0.01 [[ 9.97955524e-01 -6.38016838e-02 -3.75742097e-03 4.69987072e+00] [ 6.38006281e-02 9.97962584e-01 -4.00294909e-04 3.14303466e-01] [ 3.77530503e-03 1.59750698e-04 9.99992861e-01 6.47926251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.100888479 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:4.73, Y:0.32, Z:0.01 [[ 9.97903785e-01 -6.46058622e-02 -3.75743474e-03 4.73103963e+00] [ 6.46048126e-02 9.97910847e-01 -4.00165556e-04 3.18302464e-01] [ 3.77543793e-03 1.56578355e-04 9.99992861e-01 7.49787720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130888479 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:4.76, Y:0.32, Z:0.01 [[ 9.97929581e-01 -6.42061770e-02 -3.75744843e-03 4.75960580e+00] [ 6.42051251e-02 9.97936642e-01 -4.00037047e-04 3.21303412e-01] [ 3.77538031e-03 1.57961356e-04 9.99992861e-01 1.36187023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.160888479 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:4.79, Y:0.33, Z:0.01 [[ 9.97881121e-01 -6.49550704e-02 -3.75590366e-03 4.79032935e+00] [ 6.49539694e-02 9.97888175e-01 -4.14531054e-04 3.26106568e-01] [ 3.77489774e-03 1.69691861e-04 9.99992861e-01 1.11937269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.190888479 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:4.82, Y:0.33, Z:0.01 [[ 9.97959187e-01 -6.37443479e-02 -3.75745431e-03 4.81992690e+00] [ 6.37432930e-02 9.97966248e-01 -3.99963465e-04 3.33289755e-01] [ 3.77530799e-03 1.59634703e-04 9.99992861e-01 7.51915151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.220888479 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:4.85, Y:0.34, Z:0.01 [[ 9.98040073e-01 -6.24651387e-02 -3.75746102e-03 4.85057063e+00] [ 6.24640750e-02 9.98047133e-01 -3.99900423e-04 3.38807454e-01] [ 3.77510304e-03 1.64410321e-04 9.99992861e-01 7.41550414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250888479 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:4.88, Y:0.34, Z:0.01 [[ 9.98161433e-01 -6.04949164e-02 -3.75747430e-03 4.88120653e+00] [ 6.04938392e-02 9.98168491e-01 -3.99775602e-04 3.43694779e-01] [ 3.77477685e-03 1.71736541e-04 9.99992861e-01 9.99154699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.280888479 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:4.91, Y:0.35, Z:0.01 [[ 9.98341585e-01 -5.74452923e-02 -3.75749414e-03 4.91162593e+00] [ 5.74441943e-02 9.98348639e-01 -3.99589049e-04 3.50225856e-01] [ 3.77424367e-03 1.83080141e-04 9.99992861e-01 1.43064580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310888479 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:4.94, Y:0.35, Z:0.01 [[ 9.98393100e-01 -5.65428987e-02 -3.75751376e-03 4.94262101e+00] [ 5.65417950e-02 9.98400153e-01 -3.99404506e-04 3.53807432e-01] [ 3.77408580e-03 1.86306130e-04 9.99992861e-01 1.19081820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.340888479 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:4.97, Y:0.36, Z:0.01 [[ 9.98440342e-01 -5.57024556e-02 -3.75752668e-03 4.97388176e+00] [ 5.57013464e-02 9.98447395e-01 -3.99282876e-04 3.56578605e-01] [ 3.77393376e-03 1.89360836e-04 9.99992861e-01 7.89830230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3708884789999995 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:5.00, Y:0.36, Z:0.01 [[ 9.98571239e-01 -5.33044319e-02 -3.75753980e-03 5.00491250e+00] [ 5.33033062e-02 9.98578288e-01 -3.99159414e-04 3.59951332e-01] [ 3.77347463e-03 1.98299816e-04 9.99992861e-01 6.31652480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.400888479 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:5.04, Y:0.36, Z:0.01 [[ 9.98653467e-01 -5.17410209e-02 -3.75755348e-03 5.03521150e+00] [ 5.17398847e-02 9.98660515e-01 -3.99030552e-04 3.64827474e-01] [ 3.77316655e-03 2.04077861e-04 9.99992861e-01 7.61900636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430888479 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.07, Y:0.37, Z:0.01 [[ 9.98766969e-01 -4.95017314e-02 -3.75756027e-03 5.06665990e+00] [ 4.95005796e-02 9.98774015e-01 -3.98966614e-04 3.69753389e-01] [ 3.77270310e-03 2.12473265e-04 9.99992861e-01 5.41518879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.460888479 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.10, Y:0.37, Z:0.01 [[ 9.98770376e-01 -4.94329438e-02 -3.75757398e-03 5.09916109e+00] [ 4.94317920e-02 9.98777422e-01 -3.98837426e-04 3.73146065e-01] [ 3.77269576e-03 2.12603390e-04 9.99992861e-01 5.53865550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.490888479 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:5.13, Y:0.37, Z:-0.00 [[ 9.99035181e-01 -4.37559940e-02 -3.75760143e-03 5.12940703e+00] [ 4.37548031e-02 9.99042220e-01 -3.98578631e-04 3.74950768e-01] [ 3.77144268e-03 2.33780963e-04 9.99992861e-01 -2.79017227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.520888479 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:5.16, Y:0.38, Z:-0.00 [[ 9.99133841e-01 -4.14421009e-02 -3.75762573e-03 5.16074971e+00] [ 4.14408947e-02 9.99140878e-01 -3.98349458e-04 3.76151756e-01] [ 3.77090591e-03 2.42285052e-04 9.99992861e-01 -3.30791930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550888479 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:5.19, Y:0.38, Z:-0.00 [[ 9.99209866e-01 -3.95667071e-02 -3.75764082e-03 5.19113046e+00] [ 3.95654882e-02 9.99216900e-01 -3.98207064e-04 3.77597983e-01] [ 3.77045395e-03 2.49219533e-04 9.99992861e-01 -1.98335683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5808884789999995 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:5.22, Y:0.38, Z:0.00 [[ 9.99282717e-01 -3.76819809e-02 -3.75766400e-03 5.22268426e+00] [ 3.76807495e-02 9.99289749e-01 -3.97988232e-04 3.78567795e-01] [ 3.76999210e-03 2.56111166e-04 9.99992861e-01 3.65093212e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610888479 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:5.25, Y:0.38, Z:0.00 [[ 9.99414927e-01 -3.39953593e-02 -3.75767799e-03 5.25371321e+00] [ 3.39941025e-02 9.99421954e-01 -3.97856089e-04 3.75544222e-01] [ 3.76903114e-03 2.69884424e-04 9.99992861e-01 1.69987143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.640888479 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:5.28, Y:0.38, Z:0.00 [[ 9.99469187e-01 -3.23608348e-02 -3.75767799e-03 5.28280110e+00] [ 3.23595665e-02 9.99476213e-01 -3.97856089e-04 3.76787844e-01] [ 3.76858472e-03 2.76048072e-04 9.99992861e-01 2.50552959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670888479 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:5.31, Y:0.38, Z:0.00 [[ 9.99503808e-01 -3.12732756e-02 -3.75767103e-03 5.31428652e+00] [ 3.12719994e-02 9.99510832e-01 -3.97921836e-04 3.79131957e-01] [ 3.76827721e-03 2.80214504e-04 9.99992861e-01 4.78767192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.700888479 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:5.34, Y:0.38, Z:0.01 [[ 9.99523194e-01 -3.06474169e-02 -3.75768492e-03 5.34497310e+00] [ 3.06461368e-02 9.99530218e-01 -3.97790616e-04 3.75969586e-01] [ 3.76811088e-03 2.82442421e-04 9.99992861e-01 7.16547305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.730888479 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:5.38, Y:0.37, Z:0.01 [[ 9.99483768e-01 -3.19073098e-02 -3.75770775e-03 5.37620761e+00] [ 3.19060394e-02 9.99490794e-01 -3.97574840e-04 3.72150824e-01] [ 3.76847984e-03 2.77476028e-04 9.99992861e-01 6.89081398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.760888479 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:5.41, Y:0.37, Z:0.01 [[ 9.99435225e-01 -3.33932697e-02 -3.75770775e-03 5.40733614e+00] [ 3.33920097e-02 9.99442252e-01 -3.97574840e-04 3.67607182e-01] [ 3.76888822e-03 2.71872886e-04 9.99992861e-01 8.16479685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7908884789999995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:5.44, Y:0.36, Z:0.01 [[ 9.99273519e-01 -3.79251050e-02 -3.75770775e-03 5.43725927e+00] [ 3.79238769e-02 9.99280552e-01 -3.97574840e-04 3.62578887e-01] [ 3.77008234e-03 2.54779163e-04 9.99992861e-01 1.31985117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.820888479 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:5.47, Y:0.36, Z:0.02 [[ 9.99232128e-01 -3.90004460e-02 -3.75770093e-03 5.46756533e+00] [ 3.89992252e-02 9.99239162e-01 -3.97639294e-04 3.64832586e-01] [ 3.77035003e-03 2.50786533e-04 9.99992861e-01 1.52585410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850888479 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:5.50, Y:0.37, Z:0.02 [[ 9.99243723e-01 -3.87022272e-02 -3.75770093e-03 5.49763874e+00] [ 3.87010043e-02 9.99250756e-01 -3.97639294e-04 3.66981124e-01] [ 3.77027502e-03 2.51911769e-04 9.99992861e-01 1.60386168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.880888479 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:5.53, Y:0.37, Z:0.02 [[ 9.99308833e-01 -3.69829256e-02 -3.75770093e-03 5.52799687e+00] [ 3.69816906e-02 9.99315864e-01 -3.97639294e-04 3.68035395e-01] [ 3.76983601e-03 2.58398326e-04 9.99992861e-01 1.53105456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910888479 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:5.56, Y:0.36, Z:0.01 [[ 9.99495593e-01 -3.15347153e-02 -3.75770093e-03 5.55869070e+00] [ 3.15334419e-02 9.99502618e-01 -3.97639294e-04 3.63847973e-01] [ 3.76837136e-03 2.78945479e-04 9.99992861e-01 1.06591940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.940888479 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:5.59, Y:0.36, Z:0.01 [[ 9.99608014e-01 -2.77432664e-02 -3.75891737e-03 5.58888931e+00] [ 2.77420095e-02 9.99615042e-01 -3.86137814e-04 3.62621033e-01] [ 3.76818306e-03 2.81706533e-04 9.99992861e-01 6.41817524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970888479 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:5.62, Y:0.36, Z:0.00 [[ 9.99688641e-01 -2.46678193e-02 -3.75767891e-03 5.61867538e+00] [ 2.46664970e-02 9.99695657e-01 -3.97835398e-04 3.61109796e-01] [ 3.76634902e-03 3.05022753e-04 9.99992861e-01 3.25059449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.000888478999999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:5.65, Y:0.36, Z:0.00 [[ 9.99793832e-01 -1.99542720e-02 -3.75767219e-03 5.64862433e+00] [ 1.99529165e-02 9.99800842e-01 -3.97898854e-04 3.59297854e-01] [ 3.76486360e-03 3.22840301e-04 9.99992861e-01 3.59383250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030888479 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:5.68, Y:0.36, Z:0.01 [[ 9.99825699e-01 -1.82880094e-02 -3.75765887e-03 5.67728474e+00] [ 1.82866417e-02 9.99832706e-01 -3.98024632e-04 3.61305479e-01] [ 3.76430931e-03 3.29240295e-04 9.99992861e-01 6.82214691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.060888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:5.71, Y:0.36, Z:0.01 [[ 9.99836692e-01 -1.76768039e-02 -3.75763899e-03 5.70673528e+00] [ 1.76754312e-02 9.99843698e-01 -3.98212188e-04 3.62202751e-01] [ 3.76409079e-03 3.31729267e-04 9.99992861e-01 1.03242523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090888479 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:5.73, Y:0.35, Z:0.01 [[ 9.99884566e-01 -1.47219046e-02 -3.75762574e-03 5.73262028e+00] [ 1.47205107e-02 9.99891568e-01 -3.98337165e-04 3.51484372e-01] [ 3.76308258e-03 3.42977014e-04 9.99992861e-01 1.06828297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1208884789999995 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:5.76, Y:0.35, Z:0.01 [[ 9.99801830e-01 -1.95508124e-02 -3.75060510e-03 5.76200124e+00] [ 1.95492125e-02 9.99808789e-01 -4.62746654e-04 3.48618907e-01] [ 3.75893502e-03 3.89333575e-04 9.99992859e-01 7.38477700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150888479 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:5.79, Y:0.35, Z:0.01 [[ 9.99727884e-01 -2.30234309e-02 -3.75216827e-03 5.79451123e+00] [ 2.30219092e-02 9.99734860e-01 -4.48245517e-04 3.45433600e-01] [ 3.76149357e-03 3.61741465e-04 9.99992860e-01 7.13000369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.180888479 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:5.82, Y:0.34, Z:0.01 [[ 9.99638366e-01 -2.66274725e-02 -3.75686478e-03 5.82415803e+00] [ 2.66261385e-02 9.99645380e-01 -4.04641157e-04 3.38741449e-01] [ 3.76630709e-03 3.04464023e-04 9.99992861e-01 7.90199998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210888478999999 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:5.85, Y:0.34, Z:0.01 [[ 9.99593376e-01 -2.82660602e-02 -3.75676473e-03 5.85357159e+00] [ 2.82647343e-02 9.99600390e-01 -4.05567858e-04 3.38591208e-01] [ 3.76672730e-03 2.99218988e-04 9.99992861e-01 9.37422852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.240888479 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:5.88, Y:0.34, Z:0.01 [[ 9.99539905e-01 -3.00976131e-02 -3.75666380e-03 5.88145207e+00] [ 3.00962965e-02 9.99546921e-01 -4.06500605e-04 3.37516709e-01] [ 3.76719643e-03 2.93251909e-04 9.99992861e-01 1.08632163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.270888479 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:5.91, Y:0.33, Z:0.01 [[ 9.99429896e-01 -3.35524935e-02 -3.75662810e-03 5.91102375e+00] [ 3.35512000e-02 9.99436917e-01 -4.06830307e-04 3.26809922e-01] [ 3.76816297e-03 2.80558991e-04 9.99992861e-01 1.14786078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.300888479 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:5.94, Y:0.32, Z:0.01 [[ 9.99385806e-01 -3.48410552e-02 -3.75651138e-03 5.93977366e+00] [ 3.48397667e-02 9.99392828e-01 -4.07905138e-04 3.21867157e-01] [ 3.76844238e-03 2.76778625e-04 9.99992861e-01 1.11736658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3308884789999995 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:5.97, Y:0.32, Z:0.01 [[ 9.99375229e-01 -3.51431443e-02 -3.75639442e-03 5.96779797e+00] [ 3.51418540e-02 9.99382251e-01 -4.08979398e-04 3.18375873e-01] [ 3.76844674e-03 2.76717215e-04 9.99992861e-01 1.07245508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.360888479 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:6.00, Y:0.32, Z:0.01 [[ 9.99389565e-01 -3.47330968e-02 -3.75634373e-03 5.99594001e+00] [ 3.47318018e-02 9.99396585e-01 -4.09444513e-04 3.17802702e-01] [ 3.76829837e-03 2.78729987e-04 9.99992861e-01 1.02438349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390888479 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:6.02, Y:0.32, Z:0.01 [[ 9.99461219e-01 -3.26061583e-02 -3.75622835e-03 6.02409883e+00] [ 3.26048444e-02 9.99468236e-01 -4.10500248e-04 3.17738880e-01] [ 3.76761576e-03 2.87807837e-04 9.99992861e-01 8.70662711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.420888479 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:6.05, Y:0.32, Z:0.01 [[ 9.99526322e-01 -3.05454388e-02 -3.75611273e-03 6.05073535e+00] [ 3.05441066e-02 9.99533335e-01 -4.11555431e-04 3.18664106e-01] [ 3.76693103e-03 2.96633378e-04 9.99992861e-01 7.40730616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450888479 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:6.08, Y:0.32, Z:0.01 [[ 9.99574997e-01 -2.89088299e-02 -3.75565835e-03 6.07955717e+00] [ 2.89074707e-02 9.99582005e-01 -4.15695211e-04 3.19565530e-01] [ 3.76610576e-03 3.06951956e-04 9.99992861e-01 7.75848280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.480888479 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:6.11, Y:0.32, Z:0.01 [[ 9.99717399e-01 -2.34736909e-02 -3.75597148e-03 6.10857764e+00] [ 2.34723042e-02 9.99724402e-01 -4.12846417e-04 3.15925857e-01] [ 3.76462737e-03 3.24568441e-04 9.99992861e-01 7.86605164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510888479 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:6.14, Y:0.32, Z:0.01 [[ 9.99773120e-01 -2.09666739e-02 -3.75585486e-03 6.13676143e+00] [ 2.09652657e-02 9.99780119e-01 -4.13904627e-04 3.15985023e-01] [ 3.76370722e-03 3.35068226e-04 9.99992861e-01 8.86955394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5408884789999995 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:6.16, Y:0.32, Z:0.01 [[ 9.99814263e-01 -1.89032606e-02 -3.75573773e-03 6.16441516e+00] [ 1.89018340e-02 9.99821258e-01 -4.14964754e-04 3.16722484e-01] [ 3.76291061e-03 3.43897348e-04 9.99992861e-01 8.26126769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570888479 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:6.19, Y:0.32, Z:0.01 [[ 9.99850244e-01 -1.68933411e-02 -3.75562049e-03 6.19275611e+00] [ 1.68918966e-02 9.99857235e-01 -4.16023159e-04 3.15703478e-01] [ 3.76211234e-03 3.52521304e-04 9.99992861e-01 7.67783021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.600888479 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:6.22, Y:0.32, Z:0.01 [[ 9.99844418e-01 -1.72347284e-02 -3.75550144e-03 6.21956618e+00] [ 1.72332823e-02 9.99851409e-01 -4.17095040e-04 3.15160950e-01] [ 3.76213193e-03 3.52310532e-04 9.99992861e-01 8.67783628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630888479 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:6.25, Y:0.31, Z:0.01 [[ 9.99815961e-01 -1.88133237e-02 -3.75544979e-03 6.24794843e+00] [ 1.88118868e-02 9.99822954e-01 -4.17559610e-04 3.13556599e-01] [ 3.76264058e-03 3.46835667e-04 9.99992861e-01 8.54990377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.660888479 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:6.28, Y:0.31, Z:0.01 [[ 9.99750007e-01 -2.20413613e-02 -3.75533200e-03 6.27687511e+00] [ 2.20399431e-02 9.99757003e-01 -4.18616252e-04 3.07042316e-01] [ 3.76364634e-03 3.35744297e-04 9.99992861e-01 6.21676856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.690888479 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:6.31, Y:0.31, Z:0.01 [[ 9.99721818e-01 -2.32848772e-02 -3.75521465e-03 6.30554417e+00] [ 2.32834638e-02 9.99728815e-01 -4.19666323e-04 3.06041345e-01] [ 3.76396817e-03 3.32115175e-04 9.99992861e-01 7.65717573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720888479 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:6.33, Y:0.31, Z:0.01 [[ 9.99667877e-01 -2.54958872e-02 -3.75425599e-03 6.33407784e+00] [ 2.54944574e-02 9.99674872e-01 -4.28217184e-04 3.05700492e-01] [ 3.76395316e-03 3.32362244e-04 9.99992861e-01 1.22812623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750888478999999 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:6.36, Y:0.30, Z:0.02 [[ 9.99625753e-01 -2.70971177e-02 -3.75503817e-03 6.36385008e+00] [ 2.70957251e-02 9.99632755e-01 -4.21244748e-04 3.00677664e-01] [ 3.76507367e-03 3.19341616e-04 9.99992861e-01 1.92842179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.780888479 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:6.39, Y:0.30, Z:0.02 [[ 9.99621451e-01 -2.72553814e-02 -3.75493406e-03 6.39182781e+00] [ 2.72539865e-02 9.99628452e-01 -4.22170791e-04 2.98929135e-01] [ 3.76504534e-03 3.19674057e-04 9.99992861e-01 1.87212156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810888479 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:6.42, Y:0.30, Z:0.01 [[ 9.99597601e-01 -2.81165005e-02 -3.75487829e-03 6.42120478e+00] [ 2.81151098e-02 9.99604603e-01 -4.22666218e-04 2.97134972e-01] [ 3.76527751e-03 3.16927323e-04 9.99992861e-01 1.39790520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.840888479 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:6.45, Y:0.29, Z:0.01 [[ 9.99564631e-01 -2.92651784e-02 -3.75477821e-03 6.45112629e+00] [ 2.92637924e-02 9.99571634e-01 -4.23553415e-04 2.92901260e-01] [ 3.76556515e-03 3.13489962e-04 9.99992861e-01 7.96945565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8708884789999995 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:6.48, Y:0.29, Z:0.01 [[ 9.99544217e-01 -2.99543036e-02 -3.75467362e-03 6.47767263e+00] [ 2.99529190e-02 9.99551221e-01 -4.24478562e-04 2.94563156e-01] [ 3.76570356e-03 3.11821657e-04 9.99992861e-01 8.48440907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.900888479 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:6.51, Y:0.30, Z:0.01 [[ 9.99520170e-01 -3.07462514e-02 -3.75459132e-03 6.50633403e+00] [ 3.07448696e-02 9.99527174e-01 -4.25205295e-04 2.97330641e-01] [ 3.76588952e-03 3.09566848e-04 9.99992861e-01 1.12640197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930888479 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:6.54, Y:0.30, Z:0.01 [[ 9.99508061e-01 -3.11374201e-02 -3.75449192e-03 6.53574863e+00] [ 3.11360378e-02 9.99515065e-01 -4.26081130e-04 2.98317824e-01] [ 3.76593830e-03 3.08971522e-04 9.99992861e-01 1.41599862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.960888478999999 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:6.57, Y:0.29, Z:0.02 [[ 9.99590586e-01 -2.83648381e-02 -3.75439453e-03 6.57099619e+00] [ 2.83634332e-02 9.99597586e-01 -4.26937545e-04 2.91784064e-01] [ 3.76499372e-03 3.20275233e-04 9.99992861e-01 2.12982684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990888479 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:6.59, Y:0.29, Z:0.02 [[ 9.99543685e-01 -2.99712759e-02 -3.76091449e-03 6.59434047e+00] [ 2.99700970e-02 9.99550727e-01 -3.69455503e-04 2.94647173e-01] [ 3.77029787e-03 2.56571943e-04 9.99992859e-01 1.76215772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.020888479 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:6.62, Y:0.30, Z:0.02 [[ 9.99575543e-01 -2.88901364e-02 -3.75424445e-03 6.62277185e+00] [ 2.88887313e-02 9.99582542e-01 -4.27967006e-04 2.96339086e-01] [ 3.76504124e-03 3.19329993e-04 9.99992861e-01 1.70292164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050888479 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:6.66, Y:0.30, Z:0.02 [[ 9.99656105e-01 -2.59533701e-02 -3.75412269e-03 6.65596502e+00] [ 2.59519405e-02 9.99663100e-01 -4.29032420e-04 2.97670403e-01] [ 3.76399277e-03 3.31458109e-04 9.99992861e-01 1.80850118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080888479 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:6.68, Y:0.30, Z:0.02 [[ 9.99757889e-01 -2.16801386e-02 -3.75952345e-03 6.68311187e+00] [ 2.16788559e-02 9.99764913e-01 -3.81614399e-04 3.02290297e-01] [ 3.76691309e-03 3.00019839e-04 9.99992860e-01 1.88542164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110888479 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:6.71, Y:0.31, Z:0.02 [[ 9.99736026e-01 -2.26657806e-02 -3.76048227e-03 6.70734883e+00] [ 2.26645363e-02 9.99743057e-01 -3.73176828e-04 3.08461008e-01] [ 3.76797438e-03 2.87848732e-04 9.99992860e-01 2.03595345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.140888479 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:6.74, Y:0.30, Z:0.02 [[ 9.99781177e-01 -2.05792356e-02 -3.75414009e-03 6.74484131e+00] [ 2.05777696e-02 9.99788163e-01 -4.28713743e-04 3.02244935e-01] [ 3.76216743e-03 3.51368101e-04 9.99992861e-01 2.38383986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170888479 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:6.77, Y:0.30, Z:0.02 [[ 9.99673815e-01 -2.52606071e-02 -3.76376691e-03 6.76721148e+00] [ 2.52594899e-02 9.99680869e-01 -3.44090943e-04 3.04845358e-01] [ 3.77125772e-03 2.48907873e-04 9.99992858e-01 2.34183104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.200888479 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:6.80, Y:0.30, Z:0.03 [[ 9.99699736e-01 -2.42145870e-02 -3.75390772e-03 6.80291635e+00] [ 2.42131411e-02 9.99706726e-01 -4.30134940e-04 3.00283317e-01] [ 3.76322234e-03 3.39111889e-04 9.99992862e-01 2.73959108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230888478999999 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:6.83, Y:0.30, Z:0.02 [[ 9.99614852e-01 -2.74955865e-02 -3.76042672e-03 6.82663466e+00] [ 2.74943763e-02 9.99621889e-01 -3.73151884e-04 3.04164065e-01] [ 3.76926489e-03 2.69617578e-04 9.99992860e-01 2.28593169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.260888479 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:6.86, Y:0.30, Z:0.02 [[ 9.99657173e-01 -2.59122587e-02 -3.75373303e-03 6.86106327e+00] [ 2.59108200e-02 9.99664165e-01 -4.31396199e-04 3.03842015e-01] [ 3.76365084e-03 3.33986004e-04 9.99992862e-01 2.45043763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290888479 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:6.88, Y:0.31, Z:0.02 [[ 9.99622046e-01 -2.72329123e-02 -3.75956277e-03 6.88352174e+00] [ 2.72316724e-02 9.99629077e-01 -3.80611229e-04 3.12554719e-01] [ 3.76853341e-03 2.78088194e-04 9.99992860e-01 2.06289671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.320888479 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:6.91, Y:0.32, Z:0.02 [[ 9.99632732e-01 -2.68386406e-02 -3.75350101e-03 6.91026175e+00] [ 2.68372019e-02 9.99639724e-01 -4.33141091e-04 3.17041098e-01] [ 3.76377363e-03 3.32248547e-04 9.99992862e-01 1.97958219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350888479 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:6.94, Y:0.32, Z:0.02 [[ 9.99625048e-01 -2.71233505e-02 -3.75341525e-03 6.93859048e+00] [ 2.71219110e-02 9.99632039e-01 -4.33882999e-04 3.20400896e-01] [ 3.76380250e-03 3.31920519e-04 9.99992862e-01 1.99034904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.380888479 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:6.97, Y:0.32, Z:0.02 [[ 9.99638128e-01 -2.66369227e-02 -3.75329137e-03 6.96711168e+00] [ 2.66354758e-02 9.99645118e-01 -4.34951992e-04 3.24093675e-01] [ 3.76354517e-03 3.34823893e-04 9.99992862e-01 1.81040658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410888479 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:7.00, Y:0.32, Z:0.02 [[ 9.99656787e-01 -2.59272524e-02 -3.75318297e-03 6.99529323e+00] [ 2.59257972e-02 9.99663775e-01 -4.35885349e-04 3.24400554e-01] [ 3.76322236e-03 3.38431487e-04 9.99992862e-01 1.52481227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.440888479 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:7.03, Y:0.32, Z:0.02 [[ 9.99656717e-01 -2.59299487e-02 -3.75314455e-03 7.02610529e+00] [ 2.59284922e-02 9.99663705e-01 -4.36215905e-04 3.24234844e-01] [ 3.76319344e-03 3.38752780e-04 9.99992862e-01 1.95071978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470888479 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:7.05, Y:0.33, Z:0.02 [[ 9.99609177e-01 -2.77017292e-02 -3.75600127e-03 7.05053497e+00] [ 2.77003766e-02 9.99616186e-01 -4.11657148e-04 3.28107208e-01] [ 3.76596328e-03 3.07453613e-04 9.99992861e-01 1.84655236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.500888479 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:7.08, Y:0.33, Z:0.02 [[ 9.99615836e-01 -2.74607884e-02 -3.75295346e-03 7.08236136e+00] [ 2.74593368e-02 9.99622825e-01 -4.37784821e-04 3.32377904e-01] [ 3.76355986e-03 3.34563027e-04 9.99992862e-01 2.44004358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530888479 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:7.11, Y:0.34, Z:0.02 [[ 9.99535527e-01 -3.02426275e-02 -3.75672305e-03 7.10692930e+00] [ 3.02413158e-02 9.99542545e-01 -4.05489557e-04 3.39103387e-01] [ 3.76726758e-03 2.91692970e-04 9.99992861e-01 2.00598697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.560888478999999 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:7.14, Y:0.34, Z:0.02 [[ 9.99507545e-01 -3.11542038e-02 -3.75267677e-03 7.13615060e+00] [ 3.11527698e-02 9.99514538e-01 -4.39999575e-04 3.42690174e-01] [ 3.76456282e-03 3.22876619e-04 9.99992862e-01 2.13508460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590888479 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:7.17, Y:0.34, Z:0.02 [[ 9.99516349e-01 -3.08704162e-02 -3.75308213e-03 7.16598000e+00] [ 3.08689930e-02 9.99523344e-01 -4.36548067e-04 3.43638780e-01] [ 3.76476962e-03 3.20483064e-04 9.99992862e-01 2.29831891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620888479 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:7.19, Y:0.35, Z:0.02 [[ 9.99473515e-01 -3.22272941e-02 -3.75429787e-03 7.19406365e+00] [ 3.22259190e-02 9.99480519e-01 -4.26216015e-04 3.46606679e-01] [ 3.76608338e-03 3.05005919e-04 9.99992862e-01 2.21872995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650888479 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:7.22, Y:0.35, Z:0.02 [[ 9.99422538e-01 -3.37713159e-02 -3.75359816e-03 7.22231729e+00] [ 3.37699294e-02 9.99429540e-01 -4.32152308e-04 3.47185329e-01] [ 3.76605123e-03 3.05144011e-04 9.99992862e-01 2.30148009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.680888479 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:7.25, Y:0.35, Z:0.02 [[ 9.99271207e-01 -3.79864605e-02 -3.75272607e-03 7.25000130e+00] [ 3.79850760e-02 9.99278210e-01 -4.39528817e-04 3.47194707e-01] [ 3.76671353e-03 2.96660907e-04 9.99992862e-01 2.02221146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710888479 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:7.28, Y:0.35, Z:0.02 [[ 9.99215364e-01 -3.94281261e-02 -3.75215532e-03 7.27817332e+00] [ 3.94267337e-02 9.99222365e-01 -4.44348284e-04 3.50990908e-01] [ 3.76675734e-03 2.96064403e-04 9.99992862e-01 2.11131145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740888479 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:7.31, Y:0.36, Z:0.02 [[ 9.99139265e-01 -4.13116311e-02 -3.75203087e-03 7.30554064e+00] [ 4.13102481e-02 9.99146268e-01 -4.45396695e-04 3.56862533e-01] [ 3.76722770e-03 2.90016001e-04 9.99992862e-01 2.40989886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770888479 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:7.33, Y:0.36, Z:0.02 [[ 9.99115852e-01 -4.18741239e-02 -3.75116032e-03 7.33301389e+00] [ 4.18727175e-02 9.99122851e-01 -4.52710275e-04 3.59899349e-01] [ 3.76682684e-03 2.95238735e-04 9.99992862e-01 2.22543541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.800888479 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:7.36, Y:0.36, Z:0.02 [[ 9.99140316e-01 -4.12862368e-02 -3.75184333e-03 7.36104044e+00] [ 4.12848477e-02 9.99147317e-01 -4.46978440e-04 3.62521847e-01] [ 3.76709826e-03 2.91699900e-04 9.99992862e-01 1.82116346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830888479 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:7.39, Y:0.37, Z:0.02 [[ 9.99188507e-01 -4.01029998e-02 -3.75179433e-03 7.38881940e+00] [ 4.01016009e-02 9.99195507e-01 -4.47389404e-04 3.66697827e-01] [ 3.76671769e-03 2.96573393e-04 9.99992862e-01 2.15186862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.860888479 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:7.42, Y:0.37, Z:0.02 [[ 9.99269097e-01 -3.80421633e-02 -3.75043493e-03 7.41695313e+00] [ 3.80407075e-02 9.99276085e-01 -4.58772356e-04 3.70387359e-01] [ 3.76517262e-03 3.15767840e-04 9.99992862e-01 2.14128963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890888479 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:7.44, Y:0.37, Z:0.02 [[ 9.99479670e-01 -3.20363672e-02 -3.74973614e-03 7.44451856e+00] [ 3.20348476e-02 9.99486645e-01 -4.64616799e-04 3.74671480e-01] [ 3.76269583e-03 3.44252819e-04 9.99992862e-01 2.16835837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920888479 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:7.47, Y:0.38, Z:0.02 [[ 9.99581818e-01 -2.86726470e-02 -3.75075747e-03 7.47257753e+00] [ 2.86711358e-02 9.99588794e-01 -4.56071557e-04 3.78326755e-01] [ 3.76229192e-03 3.48342359e-04 9.99992862e-01 2.19104778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950888479 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:7.50, Y:0.38, Z:0.02 [[ 9.99611858e-01 -2.76054908e-02 -3.75114669e-03 7.50147839e+00] [ 2.76039843e-02 9.99618835e-01 -4.52819560e-04 3.83885527e-01] [ 3.76221719e-03 3.49097208e-04 9.99992862e-01 1.74402664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.980888478999999 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:7.53, Y:0.39, Z:0.02 [[ 9.99668580e-01 -2.54687314e-02 -3.75154073e-03 7.52948308e+00] [ 2.54672222e-02 9.99675557e-01 -4.49531123e-04 3.85089572e-01] [ 3.76177255e-03 3.53840819e-04 9.99992862e-01 1.80883198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010888479 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:7.56, Y:0.39, Z:0.02 [[ 9.99657406e-01 -2.59035958e-02 -3.75148076e-03 7.55679373e+00] [ 2.59020877e-02 9.99664383e-01 -4.50030996e-04 3.85873454e-01] [ 3.76187912e-03 3.52705635e-04 9.99992862e-01 1.97145645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.040888479 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:7.58, Y:0.39, Z:0.02 [[ 9.99629233e-01 -2.69689301e-02 -3.75142631e-03 7.58442161e+00] [ 2.69674278e-02 9.99636211e-01 -4.50484427e-04 3.87677707e-01] [ 3.76221067e-03 3.49151084e-04 9.99992862e-01 2.15109932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070888479 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:7.61, Y:0.40, Z:0.02 [[ 9.99530588e-01 -3.04060919e-02 -3.75130031e-03 7.61361148e+00] [ 3.04046097e-02 9.99537571e-01 -4.51531238e-04 3.96740308e-01] [ 3.76329490e-03 3.37262462e-04 9.99992862e-01 1.82199776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.100888479 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:7.64, Y:0.40, Z:0.01 [[ 9.99516107e-01 -3.08782690e-02 -3.75293694e-03 7.64090368e+00] [ 3.08768407e-02 9.99523101e-01 -4.37931335e-04 4.03790196e-01] [ 3.76466973e-03 3.21840587e-04 9.99992862e-01 1.43147178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130888479 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:7.67, Y:0.41, Z:0.01 [[ 9.99510353e-01 -3.10638977e-02 -3.75340955e-03 7.66840121e+00] [ 3.10624853e-02 9.99517350e-01 -4.34012783e-04 4.08704251e-01] [ 3.76508010e-03 3.17210041e-04 9.99992862e-01 1.26089780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.160888479 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:7.69, Y:0.41, Z:0.01 [[ 9.99560988e-01 -2.93895303e-02 -3.75330282e-03 7.69478585e+00] [ 2.93881030e-02 9.99567982e-01 -4.34894973e-04 4.11270972e-01] [ 3.76446268e-03 3.24401599e-04 9.99992862e-01 1.29508674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190888479 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:7.72, Y:0.41, Z:0.02 [[ 9.99590441e-01 -2.83704381e-02 -3.75081561e-03 7.72109492e+00] [ 2.83689273e-02 9.99597417e-01 -4.55381260e-04 4.14584710e-01] [ 3.76222496e-03 3.48788139e-04 9.99992862e-01 2.03875602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.220888479 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:7.75, Y:0.42, Z:0.02 [[ 9.99577330e-01 -2.88290193e-02 -3.74810371e-03 7.75069200e+00] [ 2.88274289e-02 9.99584289e-01 -4.77651726e-04 4.18314566e-01] [ 3.76031582e-03 3.69401643e-04 9.99992862e-01 1.90615410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250888479 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:7.78, Y:0.42, Z:0.02 [[ 9.99615136e-01 -2.74865503e-02 -3.75099934e-03 7.77641557e+00] [ 2.74850389e-02 9.99622112e-01 -4.53878604e-04 4.22232450e-01] [ 3.76205743e-03 3.50607560e-04 9.99992862e-01 1.70373411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.280888479 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:7.81, Y:0.42, Z:0.01 [[ 9.99644925e-01 -2.63814901e-02 -3.74711730e-03 7.80917533e+00] [ 2.63798531e-02 9.99651873e-01 -4.85629844e-04 4.24722345e-01] [ 3.75862446e-03 3.86609005e-04 9.99992862e-01 1.33715058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310888478999999 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:7.84, Y:0.43, Z:0.01 [[ 9.99684668e-01 -2.48288238e-02 -3.75411064e-03 7.83520062e+00] [ 2.48273900e-02 9.99691661e-01 -4.28048296e-04 4.28913905e-01] [ 3.76358104e-03 3.34708550e-04 9.99992862e-01 1.43128344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340888479 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:7.86, Y:0.43, Z:0.02 [[ 9.99664685e-01 -2.56212830e-02 -3.75056423e-03 7.86327881e+00] [ 2.56197465e-02 9.99671656e-01 -4.57144261e-04 4.31754270e-01] [ 3.76104537e-03 3.60902469e-04 9.99992862e-01 1.60993726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370888479 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:7.89, Y:0.43, Z:0.02 [[ 9.99565024e-01 -2.92523034e-02 -3.75043416e-03 7.89160473e+00] [ 2.92507883e-02 9.99571999e-01 -4.58208893e-04 4.29189372e-01] [ 3.76223263e-03 3.48306428e-04 9.99992862e-01 2.03980737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.400888478999999 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:7.92, Y:0.43, Z:0.02 [[ 9.99487596e-01 -3.17880595e-02 -3.75030438e-03 7.91978186e+00] [ 3.17865582e-02 9.99494574e-01 -4.59268652e-04 4.31052431e-01] [ 3.76300813e-03 3.39824053e-04 9.99992862e-01 2.08510598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430888479 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:7.95, Y:0.43, Z:0.02 [[ 9.99362325e-01 -3.55088677e-02 -3.75017430e-03 7.95062108e+00] [ 3.55073884e-02 9.99369308e-01 -4.60328374e-04 4.34313236e-01] [ 3.76415483e-03 3.26875939e-04 9.99992862e-01 2.08736827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.460888479 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:7.98, Y:0.43, Z:0.02 [[ 9.99387588e-01 -3.47901422e-02 -3.75437198e-03 7.97539435e+00] [ 3.47887853e-02 9.99394596e-01 -4.26163093e-04 4.34979082e-01] [ 3.76692534e-03 2.95292065e-04 9.99992862e-01 1.99764502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490888479 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:8.00, Y:0.44, Z:0.02 [[ 9.99400783e-01 -3.44094794e-02 -3.74988947e-03 8.00310476e+00] [ 3.44079843e-02 9.99407763e-01 -4.62506222e-04 4.35355608e-01] [ 3.76358324e-03 3.33202942e-04 9.99992862e-01 2.12698515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.520888479 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:8.03, Y:0.44, Z:0.02 [[ 9.99421812e-01 -3.37932152e-02 -3.74975826e-03 8.03089982e+00] [ 3.37917118e-02 9.99428790e-01 -4.63567521e-04 4.35088133e-01] [ 3.76328180e-03 3.36588741e-04 9.99992862e-01 2.28908625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550888479 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:8.06, Y:0.44, Z:0.02 [[ 9.99421516e-01 -3.38019818e-02 -3.74962700e-03 8.05919847e+00] [ 3.38004746e-02 9.99428493e-01 -4.64626827e-04 4.38631118e-01] [ 3.76318937e-03 3.37618875e-04 9.99992862e-01 2.29005028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580888479 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:8.09, Y:0.44, Z:0.02 [[ 9.99428822e-01 -3.35852667e-02 -3.74949444e-03 8.08689259e+00] [ 3.35837540e-02 9.99435798e-01 -4.65694085e-04 4.43206259e-01] [ 3.76301943e-03 3.39505992e-04 9.99992862e-01 2.33515663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610888479 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:8.11, Y:0.45, Z:0.02 [[ 9.99429245e-01 -3.35726923e-02 -3.74936213e-03 8.11404399e+00] [ 3.35711755e-02 9.99436220e-01 -4.66756972e-04 4.48043842e-01] [ 3.76291860e-03 3.40620074e-04 9.99992862e-01 2.38399191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640888479 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:8.14, Y:0.45, Z:0.02 [[ 9.99446942e-01 -3.30416981e-02 -3.74922946e-03 8.14215159e+00] [ 3.30401737e-02 9.99453915e-01 -4.67820205e-04 4.51660350e-01] [ 3.76263963e-03 3.43686281e-04 9.99992862e-01 2.46358938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670888479 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:8.17, Y:0.45, Z:0.03 [[ 9.99470709e-01 -3.23147980e-02 -3.74909628e-03 8.17063594e+00] [ 3.23132646e-02 9.99477680e-01 -4.68885107e-04 4.49803753e-01] [ 3.76228998e-03 3.47491390e-04 9.99992862e-01 2.70058024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700888479 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:8.20, Y:0.45, Z:0.03 [[ 9.99422584e-01 -3.37704619e-02 -3.74896251e-03 8.19613235e+00] [ 3.37689347e-02 9.99429556e-01 -4.69952214e-04 4.53226133e-01] [ 3.76269444e-03 3.43082386e-04 9.99992862e-01 2.57239319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730888478999999 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:8.23, Y:0.46, Z:0.03 [[ 9.99453284e-01 -3.28497429e-02 -3.74526399e-03 8.22749034e+00] [ 3.28480998e-02 9.99460231e-01 -4.99402102e-04 4.55297066e-01] [ 3.75964764e-03 3.76104266e-04 9.99992862e-01 2.85594716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.760888479 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:8.25, Y:0.46, Z:0.02 [[ 9.99398624e-01 -3.44722519e-02 -3.74894996e-03 8.25312508e+00] [ 3.44707294e-02 9.99405597e-01 -4.70001137e-04 4.64381885e-01] [ 3.76292357e-03 3.40489450e-04 9.99992862e-01 2.47760530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790888479 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:8.28, Y:0.47, Z:0.02 [[ 9.99360561e-01 -3.55586248e-02 -3.74885806e-03 8.27952452e+00] [ 3.55571071e-02 9.99367535e-01 -4.70733013e-04 4.69285959e-01] [ 3.76322565e-03 3.37133460e-04 9.99992862e-01 2.21456073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820888479 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:8.31, Y:0.47, Z:0.02 [[ 9.99325572e-01 -3.65287192e-02 -3.74876736e-03 8.30728564e+00] [ 3.65272056e-02 9.99332548e-01 -4.71454203e-04 4.70995655e-01] [ 3.76348685e-03 3.34204245e-04 9.99992862e-01 2.02294926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850888479 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:8.34, Y:0.46, Z:0.02 [[ 9.99255888e-01 -3.83877309e-02 -3.74872690e-03 8.33677375e+00] [ 3.83862291e-02 9.99262866e-01 -4.71775716e-04 4.64751336e-01] [ 3.76407398e-03 3.27525173e-04 9.99992862e-01 2.24399736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880888479 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:8.37, Y:0.46, Z:0.03 [[ 9.99215983e-01 -3.94127885e-02 -3.74859478e-03 8.36507177e+00] [ 3.94112899e-02 9.99222961e-01 -4.72823168e-04 4.64421116e-01] [ 3.76431725e-03 3.24715510e-04 9.99992862e-01 2.51636485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910888479 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:8.39, Y:0.47, Z:0.03 [[ 9.99184168e-01 -4.02112942e-02 -3.74846130e-03 8.39361051e+00] [ 4.02097973e-02 9.99191147e-01 -4.73879003e-04 4.67175821e-01] [ 3.76448463e-03 3.22767528e-04 9.99992862e-01 2.73909778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940888479 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:8.42, Y:0.48, Z:0.03 [[ 9.99152161e-01 -4.09988833e-02 -3.74834378e-03 8.42155360e+00] [ 4.09973885e-02 9.99159141e-01 -4.74806746e-04 4.75919364e-01] [ 3.76465850e-03 3.20731881e-04 9.99992862e-01 2.98799608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970888479 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:8.45, Y:0.48, Z:0.03 [[ 9.99124763e-01 -4.16612377e-02 -3.74822624e-03 8.44840776e+00] [ 4.16597440e-02 9.99131743e-01 -4.75732795e-04 4.81427264e-01] [ 3.76479144e-03 3.19166270e-04 9.99992862e-01 2.94879950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.000888479 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:8.48, Y:0.48, Z:0.03 [[ 9.99087696e-01 -4.25408761e-02 -3.74816797e-03 8.47667009e+00] [ 4.25393869e-02 9.99094677e-01 -4.76191510e-04 4.84331630e-01] [ 3.76503227e-03 3.16312311e-04 9.99992862e-01 2.74445086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030888479 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:8.50, Y:0.48, Z:0.02 [[ 9.98985889e-01 -4.48681031e-02 -3.74803412e-03 8.50281210e+00] [ 4.48666262e-02 9.98992872e-01 -4.77242637e-04 4.82336370e-01] [ 3.76567235e-03 3.08597014e-04 9.99992862e-01 2.09301675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060888478999999 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:8.53, Y:0.48, Z:0.02 [[ 9.98994861e-01 -4.46681558e-02 -3.74493017e-03 8.53064553e+00] [ 4.46665866e-02 9.99001824e-01 -5.01671352e-04 4.80657927e-01] [ 3.76360080e-03 3.33893854e-04 9.99992862e-01 2.34960312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090888479 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:8.56, Y:0.48, Z:0.03 [[ 9.98978849e-01 -4.50248603e-02 -3.74436300e-03 8.55845627e+00] [ 4.50232770e-02 9.98985810e-01 -5.06129136e-04 4.81418632e-01] [ 3.76335390e-03 3.37028809e-04 9.99992862e-01 2.56261661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.120888479 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:8.59, Y:0.49, Z:0.03 [[ 9.98963712e-01 -4.53594610e-02 -3.74461828e-03 8.58657094e+00] [ 4.53578874e-02 9.98970674e-01 -5.04127402e-04 4.88123820e-01] [ 3.76363079e-03 3.33757007e-04 9.99992862e-01 2.96553716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150888478999999 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:8.61, Y:0.49, Z:0.03 [[ 9.98989043e-01 -4.47980637e-02 -3.74509800e-03 8.61446999e+00] [ 4.47965002e-02 9.98996008e-01 -5.00371140e-04 4.94190604e-01] [ 3.76375361e-03 3.32098003e-04 9.99992862e-01 2.80002375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180888479 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:8.64, Y:0.50, Z:0.03 [[ 9.99020136e-01 -4.40991307e-02 -3.74616628e-03 8.64277098e+00] [ 4.40975934e-02 9.99027107e-01 -4.92009512e-04 4.99216661e-01] [ 3.76421885e-03 3.26330493e-04 9.99992862e-01 2.81481992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210888479 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:8.67, Y:0.50, Z:0.03 [[ 9.99033954e-01 -4.37848392e-02 -3.74784687e-03 8.67029710e+00] [ 4.37833487e-02 9.99040935e-01 -4.78856060e-04 5.03571700e-01] [ 3.76521908e-03 3.14300177e-04 9.99992862e-01 2.71866759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240888479 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:8.70, Y:0.50, Z:0.03 [[ 9.99044368e-01 -4.35465956e-02 -3.74771926e-03 8.69837874e+00] [ 4.35450997e-02 9.99051347e-01 -4.79852734e-04 5.03396533e-01] [ 3.76505993e-03 3.16199363e-04 9.99992862e-01 2.64571595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270888479 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:8.73, Y:0.51, Z:0.03 [[ 9.99032919e-01 -4.38084731e-02 -3.74767970e-03 8.72666748e+00] [ 4.38069779e-02 9.99039898e-01 -4.80161490e-04 5.07132381e-01] [ 3.76511669e-03 3.15522613e-04 9.99992862e-01 2.65649102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.300888479 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:8.75, Y:0.51, Z:0.03 [[ 9.99126701e-01 -4.16147874e-02 -3.74755358e-03 8.74815093e+00] [ 4.16132733e-02 9.99133677e-01 -4.81143837e-04 5.09121968e-01] [ 3.76432968e-03 3.24775683e-04 9.99992862e-01 2.76629225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330888479 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:8.78, Y:0.51, Z:0.03 [[ 9.99156485e-01 -4.08941938e-02 -3.73949972e-03 8.77757292e+00] [ 4.08924450e-02 9.99163407e-01 -5.42960625e-04 5.09782612e-01] [ 3.75857522e-03 3.89585343e-04 9.99992861e-01 2.79438910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.360888479 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:8.81, Y:0.52, Z:0.03 [[ 9.98867384e-01 -4.74338332e-02 -3.73907305e-03 8.81104478e+00] [ 4.74321176e-02 9.98874314e-01 -5.46229118e-04 5.15308983e-01] [ 3.76077377e-03 3.68258297e-04 9.99992860e-01 2.77258999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390888479 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:8.83, Y:0.52, Z:0.03 [[ 9.98943491e-01 -4.58024567e-02 -3.74668590e-03 8.83175778e+00] [ 4.58009472e-02 9.98950467e-01 -4.87750601e-04 5.21096004e-01] [ 3.76509380e-03 3.15633525e-04 9.99992862e-01 2.75860217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420888479 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:8.87, Y:0.52, Z:0.03 [[ 9.98947199e-01 -4.57220845e-02 -3.73967090e-03 8.86654378e+00] [ 4.57203724e-02 9.98954130e-01 -5.42081842e-04 5.23022306e-01] [ 3.76054480e-03 3.70531991e-04 9.99992860e-01 2.96116824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450888479 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:8.89, Y:0.53, Z:0.03 [[ 9.98970044e-01 -4.52195455e-02 -3.74739968e-03 8.89134524e+00] [ 4.52180534e-02 9.98977024e-01 -4.81992067e-04 5.25425531e-01] [ 3.76536164e-03 3.12045518e-04 9.99992862e-01 3.37284915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480888478999999 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:8.92, Y:0.53, Z:0.03 [[ 9.98952647e-01 -4.56025900e-02 -3.74345328e-03 8.92100696e+00] [ 4.56009859e-02 9.98959602e-01 -5.12770632e-04 5.27044132e-01] [ 3.76294227e-03 3.41528420e-04 9.99992862e-01 3.39687739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510888479 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:8.95, Y:0.53, Z:0.03 [[ 9.99009475e-01 -4.43401164e-02 -3.74480218e-03 8.95159114e+00] [ 4.43385427e-02 9.99016437e-01 -5.02256325e-04 5.26312973e-01] [ 3.76338904e-03 3.35719756e-04 9.99992862e-01 3.43714648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.540888479 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:8.98, Y:0.53, Z:0.03 [[ 9.98860649e-01 -4.75747815e-02 -3.74757391e-03 8.97530738e+00] [ 4.75733109e-02 9.98867633e-01 -4.80645316e-04 5.31403957e-01] [ 3.76619687e-03 3.01813194e-04 9.99992862e-01 3.12479006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570888478999999 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:9.00, Y:0.53, Z:0.03 [[ 9.98915235e-01 -4.64150296e-02 -3.74145646e-03 9.00438611e+00] [ 4.64133739e-02 9.98922179e-01 -5.28186212e-04 5.33723334e-01] [ 3.76193962e-03 3.53959636e-04 9.99992861e-01 3.19886306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600888479 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:9.04, Y:0.53, Z:0.03 [[ 9.99028237e-01 -4.39155512e-02 -3.74241747e-03 9.03561375e+00] [ 4.39139059e-02 9.99035183e-01 -5.20718451e-04 5.34229394e-01] [ 3.76167436e-03 3.55868268e-04 9.99992862e-01 3.12888251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630888479 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:9.06, Y:0.54, Z:0.03 [[ 9.99019481e-01 -4.41138647e-02 -3.74746906e-03 9.06351109e+00] [ 4.41123671e-02 9.99026460e-01 -4.81393763e-04 5.37262827e-01] [ 3.76505689e-03 3.15612016e-04 9.99992862e-01 3.09694188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660888479 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:9.09, Y:0.54, Z:0.03 [[ 9.99063663e-01 -4.31016780e-02 -3.74733294e-03 9.09038159e+00] [ 4.31001694e-02 9.99070639e-01 -4.82450994e-04 5.41767469e-01] [ 3.76464477e-03 3.20488573e-04 9.99992862e-01 3.09210058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690888479 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:9.12, Y:0.55, Z:0.03 [[ 9.99114459e-01 -4.19077074e-02 -3.74727395e-03 9.11710234e+00] [ 4.19061887e-02 9.99121433e-01 -4.82908799e-04 5.47190107e-01] [ 3.76421932e-03 3.25447194e-04 9.99992862e-01 2.97964630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720888479 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:9.14, Y:0.56, Z:0.03 [[ 9.99014479e-01 -4.42270223e-02 -3.74721536e-03 9.14036676e+00] [ 4.42255182e-02 9.99021456e-01 -4.83362963e-04 5.55685682e-01] [ 3.76492625e-03 3.17164058e-04 9.99992862e-01 2.60443476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750888479 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:9.17, Y:0.56, Z:0.03 [[ 9.98997396e-01 -4.46117929e-02 -3.74042761e-03 9.16888028e+00] [ 4.46100966e-02 9.99004330e-01 -5.35768460e-04 5.58053206e-01] [ 3.76060497e-03 3.68370460e-04 9.99992861e-01 2.53426522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780888479 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:9.20, Y:0.56, Z:0.03 [[ 9.98950251e-01 -4.56552376e-02 -3.74111165e-03 9.19797037e+00] [ 4.56535681e-02 9.98957191e-01 -5.30484092e-04 5.60385211e-01] [ 3.76142977e-03 3.59132121e-04 9.99992861e-01 2.62741164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810888478999999 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:9.23, Y:0.56, Z:0.03 [[ 9.98844154e-01 -4.79202919e-02 -3.74187469e-03 9.22559847e+00] [ 4.79186601e-02 9.98851103e-01 -5.24597726e-04 5.63140756e-01] [ 3.76271454e-03 3.44685750e-04 9.99992862e-01 2.71073179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.840888479 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:9.25, Y:0.56, Z:0.03 [[ 9.98730443e-01 -5.02343896e-02 -3.74286214e-03 9.25357706e+00] [ 5.02328022e-02 9.98737402e-01 -5.16966467e-04 5.63518056e-01] [ 3.76410590e-03 3.28295695e-04 9.99992862e-01 3.11206615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870888479 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:9.29, Y:0.56, Z:0.03 [[ 9.98812671e-01 -4.85720810e-02 -3.74183573e-03 9.28511907e+00] [ 4.85704526e-02 9.98819621e-01 -5.24882877e-04 5.63499837e-01] [ 3.76291360e-03 3.42517013e-04 9.99992862e-01 3.08897625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900888478999999 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:9.31, Y:0.57, Z:0.03 [[ 9.98640242e-01 -5.19964136e-02 -3.74699314e-03 9.31025280e+00] [ 5.19949575e-02 9.98647230e-01 -4.85041373e-04 5.70417247e-01] [ 3.76714473e-03 2.89557085e-04 9.99992862e-01 2.94472446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930888479 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:9.34, Y:0.57, Z:0.03 [[ 9.98599267e-01 -5.27777778e-02 -3.74300418e-03 9.33814464e+00] [ 5.27762126e-02 9.98606231e-01 -5.15774082e-04 5.74495612e-01] [ 3.76500870e-03 3.17510036e-04 9.99992862e-01 2.94688347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960888479 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:9.37, Y:0.58, Z:0.03 [[ 9.98489049e-01 -5.48234104e-02 -3.74325238e-03 9.36868714e+00] [ 5.48218666e-02 9.98496018e-01 -5.13865516e-04 5.76417497e-01] [ 3.76579445e-03 3.07877008e-04 9.99992862e-01 3.02073273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990888479 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:9.40, Y:0.57, Z:0.03 [[ 9.98593104e-01 -5.28939201e-02 -3.74781927e-03 9.39708362e+00] [ 5.28924940e-02 9.98600098e-01 -4.78692905e-04 5.73774741e-01] [ 3.76789263e-03 2.79787926e-04 9.99992862e-01 3.43786731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020888479 meters Centerline goodness : 0.997327 Centerline is valid? [True, True] Translation: X:9.42, Y:0.57, Z:0.03 [[ 9.98242148e-01 -5.91487605e-02 -3.74667289e-03 9.42292225e+00] [ 5.91473453e-02 9.98249144e-01 -4.87503343e-04 5.74625350e-01] [ 3.76894822e-03 2.65040630e-04 9.99992862e-01 3.36759353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050888479 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:9.45, Y:0.57, Z:0.04 [[ 9.98204940e-01 -5.97735985e-02 -3.74367975e-03 9.45292878e+00] [ 5.97721021e-02 9.98211919e-01 -5.10444966e-04 5.74658302e-01] [ 3.76749688e-03 2.85761079e-04 9.99992862e-01 3.51009714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080888479 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:9.48, Y:0.58, Z:0.04 [[ 9.98035852e-01 -6.25332116e-02 -3.74650518e-03 9.48022613e+00] [ 6.25318153e-02 9.98042851e-01 -4.88788407e-04 5.77834645e-01] [ 3.76973822e-03 2.53552584e-04 9.99992862e-01 3.57233342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110888479 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:9.51, Y:0.58, Z:0.04 [[ 9.97838208e-01 -6.56115477e-02 -3.74644628e-03 9.50816326e+00] [ 6.56101713e-02 9.97845211e-01 -4.89239451e-04 5.82630856e-01] [ 3.77047323e-03 2.42376835e-04 9.99992862e-01 3.59550928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140888479 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:9.54, Y:0.59, Z:0.04 [[ 9.97688353e-01 -6.78521810e-02 -3.74588027e-03 9.53536558e+00] [ 6.78508041e-02 9.97695357e-01 -4.93568597e-04 5.88186453e-01] [ 3.77073706e-03 2.38266652e-04 9.99992862e-01 3.63026602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170888479 meters Centerline goodness : 0.996533 Centerline is valid? [True, True] Translation: X:9.56, Y:0.59, Z:0.03 [[ 9.97561723e-01 -6.96891589e-02 -3.74574919e-03 9.56252702e+00] [ 6.96877912e-02 9.97568728e-01 -4.94569565e-04 5.92931940e-01] [ 3.77110839e-03 2.32330680e-04 9.99992862e-01 3.44649167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200888479 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:9.59, Y:0.60, Z:0.03 [[ 9.97436092e-01 -7.14648105e-02 -3.74472512e-03 9.59128324e+00] [ 7.14634261e-02 9.97443094e-01 -5.02374126e-04 5.96528349e-01] [ 3.77105228e-03 2.33475199e-04 9.99992862e-01 3.43938292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230888478999999 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:9.62, Y:0.60, Z:0.04 [[ 9.97173743e-01 -7.50366288e-02 -3.74563955e-03 9.61912914e+00] [ 7.50352955e-02 9.97180755e-01 -4.95408482e-04 6.00535242e-01] [ 3.77225346e-03 2.12953159e-04 9.99992862e-01 3.86852307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.260888479 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:9.64, Y:0.61, Z:0.04 [[ 9.97182930e-01 -7.49144335e-02 -3.74603054e-03 9.64488459e+00] [ 7.49131105e-02 9.97189943e-01 -4.92434186e-04 6.05863145e-01] [ 3.77239441e-03 2.10420165e-04 9.99992862e-01 4.13871188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290888479 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:9.67, Y:0.61, Z:0.04 [[ 9.97151032e-01 -7.53378955e-02 -3.74444323e-03 9.67330484e+00] [ 7.53365304e-02 9.97158038e-01 -5.04482006e-04 6.11025519e-01] [ 3.77180827e-03 2.20951392e-04 9.99992862e-01 4.32004171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.320888478999999 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:9.70, Y:0.61, Z:0.04 [[ 9.97218847e-01 -7.44348480e-02 -3.74497710e-03 9.70185401e+00] [ 7.44334918e-02 9.97225854e-01 -5.00432405e-04 6.13483567e-01] [ 3.77183760e-03 2.20288903e-04 9.99992862e-01 4.19652163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350888479 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:9.73, Y:0.62, Z:0.04 [[ 9.97319076e-01 -7.30796104e-02 -3.74584051e-03 9.72903248e+00] [ 7.30782690e-02 9.97326086e-01 -4.93897457e-04 6.16953873e-01] [ 3.77191829e-03 2.18833815e-04 9.99992862e-01 3.64392953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.380888479 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:9.76, Y:0.62, Z:0.03 [[ 9.97455543e-01 -7.11927616e-02 -3.74570712e-03 9.75825835e+00] [ 7.11914033e-02 9.97462550e-01 -4.94906443e-04 6.21371425e-01] [ 3.77143633e-03 2.26985029e-04 9.99992862e-01 3.39649193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410888479 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:9.79, Y:0.63, Z:0.03 [[ 9.97669579e-01 -6.81276087e-02 -3.74692035e-03 9.78520139e+00] [ 6.81262632e-02 9.97676589e-01 -4.85735877e-04 6.25144307e-01] [ 3.77130674e-03 2.29340227e-04 9.99992862e-01 3.36605694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.440888479 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:9.82, Y:0.63, Z:0.04 [[ 9.97595785e-01 -6.91999241e-02 -3.74439984e-03 9.81674424e+00] [ 6.91985150e-02 9.97602782e-01 -5.04728572e-04 6.28617016e-01] [ 3.77035088e-03 2.44408188e-04 9.99992862e-01 3.80434903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470888479 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:9.85, Y:0.63, Z:0.04 [[ 9.97654120e-01 -6.83535806e-02 -3.74764038e-03 9.84501379e+00] [ 6.83522571e-02 9.97661134e-01 -4.80250136e-04 6.31180780e-01] [ 3.77170197e-03 2.22963848e-04 9.99992862e-01 4.23083377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500888479 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:9.87, Y:0.64, Z:0.04 [[ 9.97786156e-01 -6.63983855e-02 -3.74719955e-03 9.87034952e+00] [ 6.63970358e-02 9.97793165e-01 -4.83575599e-04 6.37203842e-01] [ 3.77103873e-03 2.33702096e-04 9.99992862e-01 3.91538228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530888479 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:9.90, Y:0.64, Z:0.04 [[ 9.97827718e-01 -6.57709549e-02 -3.74534628e-03 9.89915755e+00] [ 6.57695487e-02 9.97834715e-01 -4.97520159e-04 6.42251516e-01] [ 3.76995892e-03 2.50109670e-04 9.99992862e-01 3.78773275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.560888478999999 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:9.93, Y:0.64, Z:0.04 [[ 9.97934226e-01 -6.41346578e-02 -3.74519564e-03 9.92934530e+00] [ 6.41332359e-02 9.97941220e-01 -4.98651599e-04 6.44990681e-01] [ 3.76946595e-03 2.57429982e-04 9.99992862e-01 3.76215811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590888479 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:9.96, Y:0.65, Z:0.04 [[ 9.98163017e-01 -6.04693176e-02 -3.74863686e-03 9.95579820e+00] [ 6.04679665e-02 9.98170026e-01 -4.72834241e-04 6.45585455e-01] [ 3.77036892e-03 2.45293204e-04 9.99992862e-01 3.86694422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620888479 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:9.98, Y:0.65, Z:0.04 [[ 9.98218226e-01 -5.95512303e-02 -3.74486693e-03 9.98422891e+00] [ 5.95497675e-02 9.98225212e-01 -5.01012933e-04 6.50039942e-01] [ 3.76805652e-03 2.77114286e-04 9.99992862e-01 4.09775453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650888478999999 meters Centerline goodness : 0.996449 Centerline is valid? [True, True] Translation: X:10.01, Y:0.66, Z:0.04 [[ 9.98103031e-01 -6.14517219e-02 -3.74517430e-03 1.00055382e+01] [ 6.14502810e-02 9.98110021e-01 -4.98719124e-04 6.57274236e-01] [ 3.76874315e-03 2.67631056e-04 9.99992862e-01 4.18340033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680888479 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:10.04, Y:0.66, Z:0.04 [[ 9.98044660e-01 -6.23929654e-02 -3.73816575e-03 1.00385868e+01] [ 6.23913399e-02 9.98051611e-01 -5.49990611e-04 6.64959665e-01] [ 3.76519790e-03 3.15686023e-04 9.99992862e-01 4.35419473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710888479 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:10.06, Y:0.67, Z:0.05 [[ 9.98079036e-01 -6.18401797e-02 -3.74576733e-03 1.00649531e+01] [ 6.18387582e-02 9.98086030e-01 -4.94232132e-04 6.71034335e-01] [ 3.76916145e-03 2.61649129e-04 9.99992862e-01 4.53714325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.740888479 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:10.09, Y:0.68, Z:0.04 [[ 9.98055230e-01 -6.22233673e-02 -3.74316651e-03 1.00932311e+01] [ 6.22218775e-02 9.98062210e-01 -5.13260623e-04 6.75736832e-01] [ 3.76784984e-03 2.79355601e-04 9.99992863e-01 4.31942429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770888479 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:10.12, Y:0.68, Z:0.04 [[ 9.98100241e-01 -6.14970912e-02 -3.74386621e-03 1.01224389e+01] [ 6.14956154e-02 9.98107224e-01 -5.08150519e-04 6.78776637e-01] [ 3.76802969e-03 2.76953799e-04 9.99992863e-01 4.48056672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800888479 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:10.15, Y:0.68, Z:0.04 [[ 9.98014439e-01 -6.28741324e-02 -3.74463270e-03 1.01484074e+01] [ 6.28726871e-02 9.98021429e-01 -5.02563003e-04 6.83820873e-01] [ 3.76882189e-03 2.66130014e-04 9.99992863e-01 4.26056123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830888479 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:10.18, Y:0.69, Z:0.04 [[ 9.98016765e-01 -6.28373011e-02 -3.74300514e-03 1.01771671e+01] [ 6.28358113e-02 9.98023745e-01 -5.14405775e-04 6.88165781e-01] [ 3.76793188e-03 2.78190823e-04 9.99992863e-01 4.07832199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860888479 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:10.21, Y:0.69, Z:0.04 [[ 9.98023823e-01 -6.27250819e-02 -3.74335156e-03 1.02058455e+01] [ 6.27236008e-02 9.98030805e-01 -5.11885141e-04 6.93284824e-01] [ 3.76808821e-03 2.76077077e-04 9.99992863e-01 4.37035721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890888479 meters Centerline goodness : 0.996342 Centerline is valid? [True, True] Translation: X:10.23, Y:0.70, Z:0.05 [[ 9.97971770e-01 -6.35478077e-02 -3.74459494e-03 1.02334998e+01] [ 6.35463660e-02 9.97978761e-01 -5.02857759e-04 6.99932081e-01] [ 3.76898173e-03 2.63882447e-04 9.99992863e-01 4.55770649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.920888479 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:10.26, Y:0.71, Z:0.04 [[ 9.97933510e-01 -6.41458634e-02 -3.74391077e-03 1.02617181e+01] [ 6.41444075e-02 9.97940498e-01 -5.07798125e-04 7.06412209e-01] [ 3.76877333e-03 2.66597828e-04 9.99992863e-01 4.34800870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950888479 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:10.29, Y:0.71, Z:0.04 [[ 9.98053742e-01 -6.22470708e-02 -3.74581996e-03 1.02902417e+01] [ 6.22456530e-02 9.98060737e-01 -4.94006561e-04 7.08323249e-01] [ 3.76930629e-03 2.59884087e-04 9.99992862e-01 4.08979397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980888478999999 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:10.32, Y:0.71, Z:0.04 [[ 9.98076189e-01 -6.18861339e-02 -3.74521258e-03 1.03171003e+01] [ 6.18846973e-02 9.98083181e-01 -4.98368789e-04 7.09264981e-01] [ 3.76887580e-03 2.65638676e-04 9.99992862e-01 4.00316366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010888479 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:10.35, Y:0.71, Z:0.04 [[ 9.98013260e-01 -6.28930065e-02 -3.74194288e-03 1.03468020e+01] [ 6.28914897e-02 9.98020234e-01 -5.21785768e-04 7.12882866e-01] [ 3.76735139e-03 2.85412753e-04 9.99992863e-01 3.74023393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040888479 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:10.37, Y:0.72, Z:0.04 [[ 9.97887543e-01 -6.48570028e-02 -3.74433884e-03 1.03729712e+01] [ 6.48555636e-02 9.97894534e-01 -5.04639803e-04 7.19605376e-01] [ 3.76918469e-03 2.60732567e-04 9.99992863e-01 3.58764004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070888478999999 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:10.40, Y:0.73, Z:0.04 [[ 9.97795622e-01 -6.62562712e-02 -3.74211939e-03 1.04021682e+01] [ 6.62547826e-02 9.97802602e-01 -5.20512363e-04 7.27531121e-01] [ 3.76838367e-03 2.71431650e-04 9.99992863e-01 3.70256797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.100888479 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:10.43, Y:0.73, Z:0.04 [[ 9.97827043e-01 -6.57812909e-02 -3.74349428e-03 1.04301087e+01] [ 6.57798356e-02 9.97834031e-01 -5.10697284e-04 7.33152600e-01] [ 3.76898031e-03 2.63341123e-04 9.99992863e-01 4.33915789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130888479 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:10.46, Y:0.74, Z:0.04 [[ 9.97818423e-01 -6.59119735e-02 -3.74249549e-03 1.04581755e+01] [ 6.59104927e-02 9.97825405e-01 -5.17787748e-04 7.37190039e-01] [ 3.76848549e-03 2.69988433e-04 9.99992863e-01 4.34972460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160888479 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:10.49, Y:0.74, Z:0.04 [[ 9.97799974e-01 -6.61906821e-02 -3.74245149e-03 1.04854517e+01] [ 6.61892020e-02 9.97806956e-01 -5.18099802e-04 7.39344273e-01] [ 3.76853751e-03 2.69250090e-04 9.99992863e-01 4.37978276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190888479 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:10.51, Y:0.74, Z:0.04 [[ 9.97719774e-01 -6.73887956e-02 -3.74207356e-03 1.05128067e+01] [ 6.73873139e-02 9.97726756e-01 -5.20775369e-04 7.41836318e-01] [ 3.76866133e-03 2.67419598e-04 9.99992863e-01 4.24446288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.220888479 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:10.54, Y:0.75, Z:0.04 [[ 9.97860603e-01 -6.52704521e-02 -3.73974017e-03 1.05426564e+01] [ 6.52688942e-02 9.97867568e-01 -5.37256897e-04 7.45104919e-01] [ 3.76683242e-03 2.92018786e-04 9.99992863e-01 4.37985171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250888479 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:10.57, Y:0.75, Z:0.05 [[ 9.97951757e-01 -6.38614307e-02 -3.74281541e-03 1.05705983e+01] [ 6.38599438e-02 9.97958738e-01 -5.15541275e-04 7.51416853e-01] [ 3.76809854e-03 2.75469339e-04 9.99992863e-01 4.61895845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280888479 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:10.60, Y:0.76, Z:0.05 [[ 9.98066485e-01 -6.20425682e-02 -3.74307188e-03 1.05983189e+01] [ 6.20410755e-02 9.98073465e-01 -5.13725527e-04 7.57729883e-01] [ 3.76773357e-03 2.80508026e-04 9.99992863e-01 4.88974400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310888478999999 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:10.62, Y:0.76, Z:0.05 [[ 9.98321335e-01 -5.77971016e-02 -3.74254000e-03 1.06224582e+01] [ 5.77955651e-02 9.98328305e-01 -5.17485808e-04 7.63624823e-01] [ 3.76619279e-03 3.00314909e-04 9.99992863e-01 4.73258434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340888479 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:10.65, Y:0.77, Z:0.04 [[ 9.98373423e-01 -5.68904770e-02 -3.73930546e-03 1.06520853e+01] [ 5.68888488e-02 9.98380372e-01 -5.40444537e-04 7.66964577e-01] [ 3.76399533e-03 3.26840679e-04 9.99992863e-01 4.47525740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370888479 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:10.68, Y:0.77, Z:0.05 [[ 9.98385518e-01 -5.66776478e-02 -3.74175079e-03 1.06801920e+01] [ 5.66760827e-02 9.98392482e-01 -5.23071743e-04 7.69622050e-01] [ 3.76538234e-03 3.10159475e-04 9.99992863e-01 4.82797654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.400888478999999 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:10.71, Y:0.77, Z:0.05 [[ 9.98351503e-01 -5.72735836e-02 -3.74347088e-03 1.07067309e+01] [ 5.72720683e-02 9.98358477e-01 -5.10833950e-04 7.72778166e-01] [ 3.76658318e-03 2.95595521e-04 9.99992863e-01 4.85916475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430888479 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:10.74, Y:0.78, Z:0.06 [[ 9.98196856e-01 -5.99085995e-02 -3.74110441e-03 1.07366004e+01] [ 5.99070401e-02 9.98203821e-01 -5.27613690e-04 7.78220812e-01] [ 3.76599331e-03 3.02543835e-04 9.99992863e-01 5.65028668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460888479 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:10.76, Y:0.78, Z:0.05 [[ 9.98085275e-01 -6.17395842e-02 -3.74277928e-03 1.07643264e+01] [ 6.17380818e-02 9.98092252e-01 -5.15754434e-04 7.83875153e-01] [ 3.76748147e-03 2.83694893e-04 9.99992863e-01 5.21018175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490888479 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:10.79, Y:0.79, Z:0.05 [[ 9.97980183e-01 -6.34157684e-02 -3.74098000e-03 1.07917074e+01] [ 6.34142303e-02 9.97987152e-01 -5.28462642e-04 7.89656583e-01] [ 3.76696285e-03 2.90163877e-04 9.99992863e-01 5.06849077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520888479 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:10.82, Y:0.79, Z:0.05 [[ 9.97922259e-01 -6.43209040e-02 -3.73970836e-03 1.08222965e+01] [ 6.43193389e-02 9.97929223e-01 -5.37420371e-04 7.93283981e-01] [ 3.76653163e-03 2.95768181e-04 9.99992863e-01 4.90324542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550888479 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:10.85, Y:0.80, Z:0.04 [[ 9.97779815e-01 -6.64936735e-02 -3.74584450e-03 1.08457379e+01] [ 6.64922855e-02 9.97786817e-01 -4.93986725e-04 7.99390806e-01] [ 3.77040125e-03 2.43820221e-04 9.99992862e-01 4.48284016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.580888479 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:10.88, Y:0.80, Z:0.05 [[ 9.97886293e-01 -6.48764493e-02 -3.74062446e-03 1.08766701e+01] [ 6.48749128e-02 9.97893263e-01 -5.30774846e-04 8.01648718e-01] [ 3.76717874e-03 2.86980257e-04 9.99992863e-01 4.50697025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610888479 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:10.90, Y:0.81, Z:0.04 [[ 9.97798786e-01 -6.62084499e-02 -3.74481947e-03 1.09028765e+01] [ 6.62070337e-02 9.97805782e-01 -5.01037669e-04 8.06218581e-01] [ 3.76977544e-03 2.52001389e-04 9.99992863e-01 4.10100333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640888479 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:10.93, Y:0.81, Z:0.04 [[ 9.97794488e-01 -6.62732504e-02 -3.74374677e-03 1.09312714e+01] [ 6.62718063e-02 9.97801478e-01 -5.08621370e-04 8.09286310e-01] [ 3.76922405e-03 2.59394739e-04 9.99992863e-01 4.27646486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670888479 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:10.96, Y:0.81, Z:0.04 [[ 9.97582744e-01 -6.93877712e-02 -3.74258464e-03 1.09598325e+01] [ 6.93863184e-02 9.97589731e-01 -5.16784806e-04 8.13426935e-01] [ 3.76942255e-03 2.55851435e-04 9.99992863e-01 4.10153632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700888479 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:10.99, Y:0.81, Z:0.05 [[ 9.97377448e-01 -7.22787228e-02 -3.74320301e-03 1.09873056e+01] [ 7.22773065e-02 9.97384444e-01 -5.12437791e-04 8.14907785e-01] [ 3.77045080e-03 2.40545265e-04 9.99992863e-01 4.59387775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730888478999999 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:11.02, Y:0.82, Z:0.05 [[ 9.97182241e-01 -7.49237788e-02 -3.74228140e-03 1.10150709e+01] [ 7.49223570e-02 9.97189235e-01 -5.18904258e-04 8.19970513e-01] [ 3.77064100e-03 2.37061568e-04 9.99992863e-01 4.53280718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760888479 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:11.04, Y:0.82, Z:0.05 [[ 9.97214597e-01 -7.44919164e-02 -3.74180698e-03 1.10427926e+01] [ 7.44904791e-02 9.97221588e-01 -5.22223637e-04 8.23567570e-01] [ 3.77031214e-03 2.42040039e-04 9.99992863e-01 4.88834817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790888479 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:11.07, Y:0.83, Z:0.05 [[ 9.97386087e-01 -7.21595703e-02 -3.74032019e-03 1.10735235e+01] [ 7.21580780e-02 9.97393066e-01 -5.32586018e-04 8.26305206e-01] [ 3.76900061e-03 2.61299568e-04 9.99992863e-01 4.61078979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820888478999999 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:11.10, Y:0.83, Z:0.05 [[ 9.97524281e-01 -7.02231592e-02 -3.74377233e-03 1.10998271e+01] [ 7.02217428e-02 9.97531277e-01 -5.08624407e-04 8.28890421e-01] [ 3.77024720e-03 2.44470978e-04 9.99992863e-01 4.51815570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850888479 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:11.13, Y:0.83, Z:0.04 [[ 9.97613988e-01 -6.89370310e-02 -3.74385597e-03 1.11251162e+01] [ 6.89356077e-02 9.97620982e-01 -5.08041358e-04 8.33717223e-01] [ 3.76997214e-03 2.48744179e-04 9.99992863e-01 4.28770899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.880888479 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:11.16, Y:0.84, Z:0.04 [[ 9.97785146e-01 -6.64139661e-02 -3.74010310e-03 1.11563377e+01] [ 6.64124279e-02 9.97792115e-01 -5.34118355e-04 8.38146766e-01] [ 3.76731830e-03 2.84546033e-04 9.99992863e-01 3.95538685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910888479 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:11.18, Y:0.84, Z:0.04 [[ 9.97731962e-01 -6.72080213e-02 -3.74350646e-03 1.11838463e+01] [ 6.72065764e-02 9.97738952e-01 -5.10580780e-04 8.43050375e-01] [ 3.76935733e-03 2.57834510e-04 9.99992863e-01 3.82717591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940888479 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:11.21, Y:0.85, Z:0.04 [[ 9.97788146e-01 -6.63686621e-02 -3.74380887e-03 1.12116780e+01] [ 6.63672192e-02 9.97795136e-01 -5.08473756e-04 8.46241521e-01] [ 3.76930100e-03 2.58882903e-04 9.99992863e-01 4.03772429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970888479 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:11.24, Y:0.85, Z:0.04 [[ 9.97793494e-01 -6.62882016e-02 -3.74389706e-03 1.12398524e+01] [ 6.62867604e-02 9.97800485e-01 -5.07860079e-04 8.49716270e-01] [ 3.76932743e-03 2.58568675e-04 9.99992863e-01 4.05217008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000888479 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:11.26, Y:0.85, Z:0.04 [[ 9.97829611e-01 -6.57423604e-02 -3.74303815e-03 1.12646888e+01] [ 6.57408933e-02 9.97836595e-01 -5.13768394e-04 8.53135851e-01] [ 3.76871679e-03 2.66582644e-04 9.99992863e-01 4.34836567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030888479 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:11.29, Y:0.86, Z:0.05 [[ 9.97709040e-01 -6.75477349e-02 -3.73838930e-03 1.12918932e+01] [ 6.75461618e-02 9.97716001e-01 -5.45620621e-04 8.55463090e-01] [ 3.76670625e-03 2.91856778e-04 9.99992863e-01 4.63430227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060888478999999 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:11.32, Y:0.86, Z:0.04 [[ 9.97456351e-01 -7.11818268e-02 -3.73832229e-03 1.13218335e+01] [ 7.11802773e-02 9.97463318e-01 -5.46079356e-04 8.59088956e-01] [ 3.76771028e-03 2.78595505e-04 9.99992863e-01 4.30339104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090888479 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:11.35, Y:0.86, Z:0.04 [[ 9.97317017e-01 -7.31079591e-02 -3.74093575e-03 1.13475767e+01] [ 7.31064897e-02 9.97324001e-01 -5.28204458e-04 8.62830432e-01] [ 3.76954096e-03 2.53300613e-04 9.99992863e-01 4.38217777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120888479 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:11.38, Y:0.87, Z:0.05 [[ 9.97175526e-01 -7.50132534e-02 -3.73934744e-03 1.13754914e+01] [ 7.50117570e-02 9.97182504e-01 -5.39048776e-04 8.66540490e-01] [ 3.76924765e-03 2.57031225e-04 9.99992863e-01 4.59211094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150888478999999 meters Centerline goodness : 0.996601 Centerline is valid? [True, True] Translation: X:11.40, Y:0.87, Z:0.05 [[ 9.96947470e-01 -7.79857038e-02 -3.73796502e-03 1.14036156e+01] [ 7.79841929e-02 9.96954445e-01 -5.48470337e-04 8.67655322e-01] [ 3.76935369e-03 2.55293929e-04 9.99992863e-01 4.94254901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180888479 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:11.43, Y:0.87, Z:0.05 [[ 9.96911593e-01 -7.84430065e-02 -3.73780735e-03 1.14324588e+01] [ 7.84414948e-02 9.96918567e-01 -5.49542746e-04 8.71966997e-01] [ 3.76939733e-03 2.54646338e-04 9.99992863e-01 4.72547957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210888479 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:11.47, Y:0.88, Z:0.05 [[ 9.96648010e-01 -8.17237656e-02 -3.73767049e-03 1.14667358e+01] [ 8.17222735e-02 9.96654989e-01 -5.50472037e-04 8.76860196e-01] [ 3.77015459e-03 2.43175930e-04 9.99992863e-01 4.67666470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.240888478999999 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:11.49, Y:0.88, Z:0.04 [[ 9.96802350e-01 -7.98187046e-02 -3.74814979e-03 1.14879795e+01] [ 7.98174653e-02 9.96809381e-01 -4.79319090e-04 8.83044297e-01] [ 3.77444950e-03 1.78618580e-04 9.99992861e-01 4.27109483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270888479 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:11.52, Y:0.89, Z:0.04 [[ 9.96768488e-01 -8.02409800e-02 -3.73717637e-03 1.15155163e+01] [ 8.02394665e-02 9.96775462e-01 -5.53421172e-04 8.86653892e-01] [ 3.76953276e-03 2.51763748e-04 9.99992864e-01 4.45807049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300888479 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:11.54, Y:0.89, Z:0.04 [[ 9.96707338e-01 -8.09970190e-02 -3.73701951e-03 1.15441683e+01] [ 8.09955068e-02 9.96714312e-01 -5.54478342e-04 8.90135106e-01] [ 3.76965192e-03 2.49970844e-04 9.99992864e-01 4.49277955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330888479 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:11.57, Y:0.90, Z:0.04 [[ 9.96544490e-01 -8.29765488e-02 -3.73781997e-03 1.15719691e+01] [ 8.29750706e-02 9.96551472e-01 -5.49092827e-04 8.95487181e-01] [ 3.77049183e-03 2.37049555e-04 9.99992864e-01 4.25861325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.360888479 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:11.60, Y:0.90, Z:0.04 [[ 9.96672960e-01 -8.14189674e-02 -3.73661273e-03 1.15984904e+01] [ 8.14174480e-02 9.96679933e-01 -5.57197530e-04 9.01297580e-01] [ 3.76957338e-03 2.51118239e-04 9.99992864e-01 4.49557795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390888479 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:11.63, Y:0.91, Z:0.05 [[ 9.96945177e-01 -7.80151720e-02 -3.73449323e-03 1.16268877e+01] [ 7.80135759e-02 9.96952133e-01 -5.71390265e-04 9.05306025e-01] [ 3.76768810e-03 2.78303598e-04 9.99992864e-01 4.50204154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420888479 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:11.65, Y:0.91, Z:0.04 [[ 9.96904853e-01 -7.85286774e-02 -3.73648769e-03 1.16515927e+01] [ 7.85271347e-02 9.96911820e-01 -5.58035761e-04 9.12101378e-01] [ 3.76877056e-03 2.62892886e-04 9.99992864e-01 4.17488229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450888479 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:11.68, Y:0.91, Z:0.04 [[ 9.97173842e-01 -7.50359858e-02 -3.73220603e-03 1.16811287e+01] [ 7.50343123e-02 9.97180780e-01 -5.86623133e-04 9.14180444e-01] [ 3.76570196e-03 3.04921730e-04 9.99992863e-01 4.03606155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480888478999999 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:11.71, Y:0.92, Z:0.04 [[ 9.97332494e-01 -7.28967458e-02 -3.73629964e-03 1.17106768e+01] [ 7.28951592e-02 9.97339452e-01 -5.59275323e-04 9.15186167e-01] [ 3.76712839e-03 2.85425296e-04 9.99992864e-01 3.72630526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510888479 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:11.74, Y:0.92, Z:0.04 [[ 9.97387436e-01 -7.21411349e-02 -3.73616919e-03 1.17380386e+01] [ 7.21395397e-02 9.97394392e-01 -5.60145439e-04 9.16493945e-01] [ 3.76684372e-03 2.89156497e-04 9.99992864e-01 3.91936334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540888479 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:11.76, Y:0.92, Z:0.04 [[ 9.97277631e-01 -7.36435260e-02 -3.73609950e-03 1.17622676e+01] [ 7.36419396e-02 9.97284588e-01 -5.60609883e-04 9.19885033e-01] [ 3.76723974e-03 2.83950083e-04 9.99992864e-01 4.23795337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570888478999999 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:11.79, Y:0.93, Z:0.04 [[ 9.97285469e-01 -7.35375818e-02 -3.73065494e-03 1.17904834e+01] [ 7.35358599e-02 9.97292395e-01 -5.96837357e-04 9.25429870e-01] [ 3.76444378e-03 3.20880304e-04 9.99992863e-01 4.35441084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600888479 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:11.82, Y:0.93, Z:0.04 [[ 9.97303608e-01 -7.32911550e-02 -3.73093555e-03 1.18161613e+01] [ 7.32894383e-02 9.97310536e-01 -5.94971553e-04 9.32660326e-01] [ 3.76450749e-03 3.19929105e-04 9.99992863e-01 4.29364876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630888479 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:11.85, Y:0.94, Z:0.04 [[ 9.97534614e-01 -7.00770040e-02 -3.72938794e-03 1.18484279e+01] [ 7.00752269e-02 9.97541526e-01 -6.05233923e-04 9.35946777e-01] [ 3.76263232e-03 3.42404081e-04 9.99992863e-01 4.30511837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660888479 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:11.87, Y:0.94, Z:0.04 [[ 9.97530572e-01 -7.01341659e-02 -3.73578252e-03 1.18734825e+01] [ 7.01325469e-02 9.97537523e-01 -5.62786648e-04 9.39316671e-01] [ 3.76605382e-03 2.99396944e-04 9.99992864e-01 4.48449989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690888479 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:11.90, Y:0.94, Z:0.05 [[ 9.97763577e-01 -6.67377823e-02 -3.73005715e-03 1.19048588e+01] [ 6.67359989e-02 9.97770487e-01 -6.00695270e-04 9.38172438e-01] [ 3.76183001e-03 3.50422771e-04 9.99992863e-01 4.65282411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720888479 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:11.93, Y:0.94, Z:0.05 [[ 9.97630221e-01 -6.87021563e-02 -3.73562543e-03 1.19279264e+01] [ 6.87005236e-02 9.97637169e-01 -5.63801056e-04 9.42197357e-01] [ 3.76553312e-03 3.05825550e-04 9.99992864e-01 4.50229916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750888479 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:11.96, Y:0.94, Z:0.05 [[ 9.97677719e-01 -6.80093049e-02 -3.72883138e-03 1.19572871e+01] [ 6.80075002e-02 9.97684624e-01 -6.08806362e-04 9.43597718e-01] [ 3.76160223e-03 3.53804041e-04 9.99992863e-01 4.52998366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780888479 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:11.98, Y:0.95, Z:0.05 [[ 9.97717753e-01 -6.74193994e-02 -3.72953952e-03 1.19847763e+01] [ 6.74176080e-02 9.97724662e-01 -6.04117992e-04 9.47446406e-01] [ 3.76178283e-03 3.51302613e-04 9.99992863e-01 4.58466573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810888478999999 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:12.02, Y:0.95, Z:0.04 [[ 9.97899657e-01 -6.46712209e-02 -3.72925674e-03 1.20172475e+01] [ 6.46694036e-02 9.97906559e-01 -6.05989558e-04 9.53982292e-01] [ 3.76063984e-03 3.63547963e-04 9.99992863e-01 4.21054183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840888479 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:12.04, Y:0.96, Z:0.04 [[ 9.97903540e-01 -6.46109183e-02 -3.73555509e-03 1.20421392e+01] [ 6.46092554e-02 9.97910480e-01 -5.64240801e-04 9.62824916e-01] [ 3.76420568e-03 3.21706460e-04 9.99992864e-01 4.23311612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870888479 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:12.07, Y:0.96, Z:0.04 [[ 9.97889045e-01 -6.48345487e-02 -3.73294250e-03 1.20724445e+01] [ 6.48328232e-02 9.97895970e-01 -5.81513104e-04 9.61044084e-01] [ 3.76279042e-03 3.38268354e-04 9.99992863e-01 4.35096911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900888478999999 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:12.10, Y:0.96, Z:0.05 [[ 9.97831820e-01 -6.57093066e-02 -3.73445085e-03 1.21011777e+01] [ 6.57076243e-02 9.97838755e-01 -5.71547354e-04 9.57539001e-01] [ 3.76393577e-03 3.24926243e-04 9.99992864e-01 4.83549165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930888479 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:12.13, Y:0.96, Z:0.05 [[ 9.97664128e-01 -6.82080310e-02 -3.73535614e-03 1.21295510e+01] [ 6.82063882e-02 9.97671072e-01 -5.65568248e-04 9.57419593e-01] [ 3.76523307e-03 3.09472002e-04 9.99992864e-01 4.90922929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960888479 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:12.16, Y:0.97, Z:0.05 [[ 9.97466962e-01 -7.10331584e-02 -3.73497492e-03 1.21553504e+01] [ 7.10315260e-02 9.97473909e-01 -5.68081897e-04 9.66884838e-01] [ 3.76589269e-03 3.01341955e-04 9.99992864e-01 4.75931609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990888478999999 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:12.18, Y:0.97, Z:0.04 [[ 9.97604175e-01 -6.90794804e-02 -3.73312211e-03 1.21843945e+01] [ 6.90777890e-02 9.97611108e-01 -5.80289239e-04 9.74740344e-01] [ 3.76429016e-03 3.21023146e-04 9.99992864e-01 4.17857123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020888479 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:12.21, Y:0.98, Z:0.04 [[ 9.97577430e-01 -6.94645075e-02 -3.73545096e-03 1.22126239e+01] [ 6.94628758e-02 9.97584377e-01 -5.64951968e-04 9.81057559e-01] [ 3.76567163e-03 3.04108167e-04 9.99992864e-01 4.19024717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050888479 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:12.24, Y:0.99, Z:0.04 [[ 9.97557725e-01 -6.97469293e-02 -3.73500734e-03 1.22408325e+01] [ 6.97452887e-02 9.97564671e-01 -5.67869750e-04 9.85431658e-01] [ 3.76551854e-03 3.05983691e-04 9.99992864e-01 4.20096664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080888479 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:12.27, Y:0.98, Z:0.04 [[ 9.97586730e-01 -6.93308493e-02 -3.73484627e-03 1.22694514e+01] [ 6.93292019e-02 9.97593674e-01 -5.68927090e-04 9.82146992e-01] [ 3.76530321e-03 3.08620204e-04 9.99992864e-01 4.33205262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110888479 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:12.30, Y:0.98, Z:0.05 [[ 9.97526959e-01 -7.01856461e-02 -3.73377408e-03 1.22979558e+01] [ 7.01839785e-02 9.97533898e-01 -5.75950554e-04 9.81577491e-01] [ 3.76498967e-03 3.12475085e-04 9.99992864e-01 4.65943955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.140888479 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:12.33, Y:0.98, Z:0.05 [[ 9.97474394e-01 -7.09287943e-02 -3.73342719e-03 1.23281540e+01] [ 7.09271235e-02 9.97481333e-01 -5.78219336e-04 9.82091727e-01] [ 3.76503633e-03 3.11957730e-04 9.99992864e-01 4.62029881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170888479 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:12.35, Y:0.99, Z:0.05 [[ 9.97339564e-01 -7.28000269e-02 -3.73507695e-03 1.23547745e+01] [ 7.27984092e-02 9.97346514e-01 -5.67439159e-04 9.88845029e-01] [ 3.76647556e-03 2.94021864e-04 9.99992864e-01 4.78006141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.200888479 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:12.38, Y:0.99, Z:0.04 [[ 9.97566039e-01 -6.96279685e-02 -3.73420010e-03 1.23837153e+01] [ 6.96263074e-02 9.97572979e-01 -5.73165649e-04 9.94593728e-01] [ 3.76504548e-03 3.11772022e-04 9.99992864e-01 4.40291656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230888478999999 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:12.42, Y:1.00, Z:0.05 [[ 9.97452222e-01 -7.12398206e-02 -3.73545510e-03 1.24150895e+01] [ 7.12382011e-02 9.97459172e-01 -5.64972335e-04 1.00198077e+00] [ 3.76621248e-03 2.97425809e-04 9.99992864e-01 4.60617672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.260888479 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:12.44, Y:1.01, Z:0.05 [[ 9.97594442e-01 -6.92193524e-02 -3.74308642e-03 1.24383140e+01] [ 6.92179051e-02 9.97601432e-01 -5.14991709e-04 1.00543979e+00] [ 3.76975577e-03 2.54664265e-04 9.99992862e-01 4.95571382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290888479 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:12.47, Y:1.01, Z:0.05 [[ 9.97493697e-01 -7.06567655e-02 -3.73446624e-03 1.24661905e+01] [ 7.06551189e-02 9.97500641e-01 -5.71212876e-04 1.00885564e+00] [ 3.76549252e-03 3.05922087e-04 9.99992864e-01 5.41233110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.320888478999999 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:12.49, Y:1.01, Z:0.06 [[ 9.97414524e-01 -7.17657525e-02 -3.73412546e-03 1.24938976e+01] [ 7.17641052e-02 9.97421468e-01 -5.73431996e-04 1.01087253e+00] [ 3.76564968e-03 3.03973229e-04 9.99992864e-01 5.66307553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350888479 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:12.53, Y:1.01, Z:0.06 [[ 9.97353707e-01 -7.26060617e-02 -3.73396429e-03 1.25270891e+01] [ 7.26044165e-02 9.97360651e-01 -5.74479552e-04 1.01244495e+00] [ 3.76581976e-03 3.01857012e-04 9.99992864e-01 5.78046115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380888479 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:12.55, Y:1.02, Z:0.06 [[ 9.97323403e-01 -7.30207567e-02 -3.74146133e-03 1.25526826e+01] [ 7.30192952e-02 9.97330390e-01 -5.25918824e-04 1.01697284e+00] [ 3.76987608e-03 2.51312282e-04 9.99992862e-01 5.63735297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410888478999999 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:12.58, Y:1.02, Z:0.06 [[ 9.97184222e-01 -7.48977053e-02 -3.73654244e-03 1.25797565e+01] [ 7.48961387e-02 9.97191184e-01 -5.57650739e-04 1.02437160e+00] [ 3.76781394e-03 2.76227917e-04 9.99992864e-01 5.58382811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440888479 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:12.61, Y:1.03, Z:0.06 [[ 9.97131978e-01 -7.55901132e-02 -3.73530255e-03 1.26084532e+01] [ 7.55885217e-02 9.97138935e-01 -5.65628285e-04 1.02882392e+00] [ 3.76737151e-03 2.81660053e-04 9.99992864e-01 5.62431230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470888479 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:12.64, Y:1.03, Z:0.06 [[ 9.96859578e-01 -7.91013554e-02 -3.73592719e-03 1.26351620e+01] [ 7.90998033e-02 9.96866544e-01 -5.61615157e-04 1.02967237e+00] [ 3.76864535e-03 2.64340343e-04 9.99992864e-01 5.55831213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500888479 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:12.66, Y:1.03, Z:0.05 [[ 9.96578391e-01 -8.25685025e-02 -3.73534030e-03 1.26616979e+01] [ 8.25669606e-02 9.96585359e-01 -5.65379499e-04 1.03373291e+00] [ 3.76926799e-03 2.55029296e-04 9.99992864e-01 5.45582967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530888479 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:12.69, Y:1.03, Z:0.06 [[ 9.96567776e-01 -8.26966481e-02 -3.73259872e-03 1.26928823e+01] [ 8.26950418e-02 9.96574729e-01 -5.82934181e-04 1.03498692e+00] [ 3.76802026e-03 2.72266013e-04 9.99992864e-01 5.63027222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560888478999999 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:12.72, Y:1.04, Z:0.06 [[ 9.96363266e-01 -8.51251735e-02 -3.73469129e-03 1.27192122e+01] [ 8.51236339e-02 9.96370234e-01 -5.69568595e-04 1.03982050e+00] [ 3.76961986e-03 2.49586731e-04 9.99992864e-01 5.62353492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590888479 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:12.75, Y:1.05, Z:0.05 [[ 9.96252930e-01 -8.64070619e-02 -3.73091884e-03 1.27466400e+01] [ 8.64054416e-02 9.96259879e-01 -5.93608989e-04 1.04914419e+00] [ 3.76825677e-03 2.69013004e-04 9.99992864e-01 5.20878346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.620888479 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:12.77, Y:1.05, Z:0.05 [[ 9.96418818e-01 -8.44725409e-02 -3.73213313e-03 1.27744683e+01] [ 8.44709359e-02 9.96425771e-01 -5.85873730e-04 1.05401342e+00] [ 3.76828388e-03 2.68518831e-04 9.99992864e-01 4.95608905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650888478999999 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:12.80, Y:1.06, Z:0.05 [[ 9.96536116e-01 -8.30773278e-02 -3.73198977e-03 1.28019541e+01] [ 8.30757097e-02 9.96543066e-01 -5.86785526e-04 1.05573215e+00] [ 3.76783710e-03 2.74715270e-04 9.99992864e-01 4.88970827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680888479 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:12.83, Y:1.06, Z:0.05 [[ 9.96642656e-01 -8.17893832e-02 -3.73010414e-03 1.28317432e+01] [ 8.17877116e-02 9.96649593e-01 -5.98758770e-04 1.05689108e+00] [ 3.76657888e-03 2.91671849e-04 9.99992864e-01 4.98222612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710888479 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:12.86, Y:1.06, Z:0.05 [[ 9.96692710e-01 -8.11770705e-02 -3.73169433e-03 1.28608800e+01] [ 8.11754322e-02 9.96699655e-01 -5.88668410e-04 1.06019575e+00] [ 3.76716483e-03 2.83799612e-04 9.99992864e-01 5.10276339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740888478999999 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:12.89, Y:1.07, Z:0.05 [[ 9.96909474e-01 -7.84702171e-02 -3.73161315e-03 1.28870804e+01] [ 7.84685579e-02 9.96916415e-01 -5.89182631e-04 1.06532691e+00] [ 3.76633969e-03 2.94547445e-04 9.99992864e-01 5.36211557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770888479 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:12.92, Y:1.07, Z:0.05 [[ 9.97053528e-01 -7.66181753e-02 -3.73062194e-03 1.29154516e+01] [ 7.66164800e-02 9.97060460e-01 -5.95453517e-04 1.07167421e+00] [ 3.76527819e-03 3.07871908e-04 9.99992864e-01 5.02075456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800888479 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:12.94, Y:1.08, Z:0.04 [[ 9.97232096e-01 -7.42578344e-02 -3.73112340e-03 1.29404776e+01] [ 7.42561345e-02 9.97239026e-01 -5.92284331e-04 1.07788786e+00] [ 3.76480362e-03 3.13586143e-04 9.99992864e-01 4.48224231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830888479 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:12.97, Y:1.09, Z:0.05 [[ 9.97236310e-01 -7.42013826e-02 -3.72790121e-03 1.29703942e+01] [ 7.41996068e-02 9.97243222e-01 -6.12606988e-04 1.08540930e+00] [ 3.76308050e-03 3.34305128e-04 9.99992864e-01 4.66956547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.860888479 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:13.00, Y:1.09, Z:0.05 [[ 9.97398849e-01 -7.19834331e-02 -3.73124832e-03 1.29978157e+01] [ 7.19817203e-02 9.97405776e-01 -5.91492791e-04 1.09025917e+00] [ 3.76414631e-03 3.21372556e-04 9.99992864e-01 4.83013725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890888479 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:13.02, Y:1.09, Z:0.05 [[ 9.97524242e-01 -7.02243910e-02 -3.73108125e-03 1.30245819e+01] [ 7.02226621e-02 9.97531166e-01 -5.92544800e-04 1.09217636e+00] [ 3.76348093e-03 3.29071345e-04 9.99992864e-01 5.13920197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920888479 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:13.05, Y:1.09, Z:0.05 [[ 9.97602230e-01 -6.91078073e-02 -3.72839712e-03 1.30517241e+01] [ 6.91060081e-02 9.97609136e-01 -6.09417853e-04 1.09415061e+00] [ 3.76159856e-03 3.50301967e-04 9.99992864e-01 5.24913388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950888479 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:13.08, Y:1.10, Z:0.05 [[ 9.97402753e-01 -7.19294961e-02 -3.72781237e-03 1.30799880e+01] [ 7.19277027e-02 9.97409660e-01 -6.13103511e-04 1.09868605e+00] [ 3.76225630e-03 3.43378149e-04 9.99992864e-01 5.33505929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.980888478999999 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:13.11, Y:1.10, Z:0.05 [[ 9.97351809e-01 -7.26323978e-02 -3.72881219e-03 1.31089423e+01] [ 7.26306326e-02 9.97358723e-01 -6.06809105e-04 1.10407937e+00] [ 3.76303736e-03 3.34376171e-04 9.99992864e-01 5.03837244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010888479 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:13.14, Y:1.11, Z:0.05 [[ 9.97166434e-01 -7.51344465e-02 -3.73067141e-03 1.31361510e+01] [ 7.51327422e-02 9.97173364e-01 -5.95114414e-04 1.11049681e+00] [ 3.76483975e-03 3.13132545e-04 9.99992864e-01 4.96749793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.040888479 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:13.16, Y:1.11, Z:0.05 [[ 9.97103286e-01 -7.59679701e-02 -3.72886913e-03 1.31644004e+01] [ 7.59662295e-02 9.97110207e-01 -6.06435273e-04 1.11477829e+00] [ 3.76416313e-03 3.21410476e-04 9.99992864e-01 4.65865626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070888478999999 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:13.19, Y:1.12, Z:0.05 [[ 9.96984111e-01 -7.75162119e-02 -3.73084048e-03 1.31920178e+01] [ 7.75145280e-02 9.96991046e-01 -5.94051037e-04 1.11621503e+00] [ 3.76566314e-03 3.03065106e-04 9.99992864e-01 4.65218567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100888479 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:13.22, Y:1.12, Z:0.05 [[ 9.96990297e-01 -7.74366067e-02 -3.73081313e-03 1.32176202e+01] [ 7.74349217e-02 9.96997232e-01 -5.94222741e-04 1.11790605e+00] [ 3.76562496e-03 3.03539084e-04 9.99992864e-01 4.84112028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130888479 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:13.25, Y:1.12, Z:0.05 [[ 9.96775582e-01 -8.01532997e-02 -3.72654626e-03 1.32481051e+01] [ 8.01515342e-02 9.96782497e-01 -6.20961586e-04 1.12076396e+00] [ 3.76432821e-03 3.20270946e-04 9.99992864e-01 4.72312464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.160888478999999 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:13.28, Y:1.12, Z:0.05 [[ 9.96741410e-01 -8.05770195e-02 -3.72910336e-03 1.32773903e+01] [ 8.05753165e-02 9.96748340e-01 -6.04939439e-04 1.12248042e+00] [ 3.76572180e-03 3.02494506e-04 9.99992864e-01 4.95073199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190888479 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:13.30, Y:1.13, Z:0.05 [[ 9.96792338e-01 -7.99444650e-02 -3.73056381e-03 1.33029178e+01] [ 7.99427916e-02 9.96799275e-01 -5.95794851e-04 1.12652957e+00] [ 3.76625380e-03 2.95652057e-04 9.99992864e-01 5.11166263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220888479 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:13.33, Y:1.14, Z:0.06 [[ 9.96611388e-01 -8.21697383e-02 -3.72502019e-03 1.33303246e+01] [ 8.21679516e-02 9.96618297e-01 -6.30419748e-04 1.13676931e+00] [ 3.76422471e-03 3.22206221e-04 9.99992863e-01 5.53905554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250888479 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:13.36, Y:1.14, Z:0.05 [[ 9.96454025e-01 -8.40564959e-02 -3.72566494e-03 1.33615926e+01] [ 8.40547374e-02 9.96460942e-01 -6.26376930e-04 1.14144034e+00] [ 3.76513064e-03 3.10996026e-04 9.99992864e-01 5.15777082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280888479 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:13.39, Y:1.14, Z:0.05 [[ 9.96723704e-01 -8.07956301e-02 -3.73141831e-03 1.33861345e+01] [ 8.07939832e-02 9.96730648e-01 -5.90270004e-04 1.14253747e+00] [ 3.76691022e-03 2.86859957e-04 9.99992864e-01 4.95640620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310888478999999 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:13.42, Y:1.14, Z:0.05 [[ 9.96663531e-01 -8.15348106e-02 -3.72570194e-03 1.34198353e+01] [ 8.15330355e-02 9.96670443e-01 -6.26119794e-04 1.14255346e+00] [ 3.76434756e-03 3.20262976e-04 9.99992864e-01 4.67557244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.340888479 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:13.44, Y:1.15, Z:0.05 [[ 9.96827670e-01 -7.95025699e-02 -3.73337579e-03 1.34441019e+01] [ 7.95009599e-02 9.96834622e-01 -5.77924539e-04 1.14569048e+00] [ 3.76750473e-03 2.79284213e-04 9.99992864e-01 4.93605835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370888479 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:13.47, Y:1.15, Z:0.05 [[ 9.97010052e-01 -7.71820354e-02 -3.72681086e-03 1.34700992e+01] [ 7.71802562e-02 9.97016963e-01 -6.19092225e-04 1.15065407e+00] [ 3.76347644e-03 3.29604955e-04 9.99992864e-01 5.07615469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.400888478999999 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:13.50, Y:1.16, Z:0.05 [[ 9.97017435e-01 -7.70866847e-02 -3.72525392e-03 1.35003524e+01] [ 7.70848687e-02 9.97024337e-01 -6.28841180e-04 1.16213184e+00] [ 3.76264409e-03 3.39804911e-04 9.99992863e-01 4.95968704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430888479 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:13.53, Y:1.17, Z:0.05 [[ 9.97020640e-01 -7.70449579e-02 -3.73059596e-03 1.35257059e+01] [ 7.70432659e-02 9.97027573e-01 -5.95367769e-04 1.16975939e+00] [ 3.76537712e-03 3.06176658e-04 9.99992864e-01 5.07110147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.460888479 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:13.56, Y:1.17, Z:0.05 [[ 9.97108310e-01 -7.59021683e-02 -3.72548915e-03 1.35568952e+01] [ 7.59003499e-02 9.97115211e-01 -6.27276596e-04 1.17242947e+00] [ 3.76235355e-03 3.42696777e-04 9.99992864e-01 4.90295933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490888478999999 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:13.58, Y:1.17, Z:0.05 [[ 9.97000441e-01 -7.73059153e-02 -3.73043043e-03 1.35846910e+01] [ 7.73042213e-02 9.97007373e-01 -5.96367616e-04 1.17423765e+00] [ 3.76536939e-03 3.06200756e-04 9.99992864e-01 5.14855331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520888479 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:13.61, Y:1.17, Z:0.06 [[ 9.96939008e-01 -7.80942003e-02 -3.72967573e-03 1.36138165e+01] [ 7.80924944e-02 9.96945937e-01 -6.01081356e-04 1.16937470e+00] [ 3.76522603e-03 3.07981770e-04 9.99992864e-01 5.73486964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550888479 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:13.64, Y:1.17, Z:0.06 [[ 9.96709255e-01 -8.09737404e-02 -3.73018809e-03 1.36411530e+01] [ 8.09720663e-02 9.96716192e-01 -5.97884735e-04 1.17430996e+00] [ 3.76635183e-03 2.93876211e-04 9.99992864e-01 5.78334803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.580888479 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:13.67, Y:1.18, Z:0.06 [[ 9.96605460e-01 -8.22414233e-02 -3.72890195e-03 1.36683667e+01] [ 8.22397282e-02 9.96612392e-01 -6.05903127e-04 1.17999729e+00] [ 3.76610023e-03 2.97182482e-04 9.99992864e-01 5.74033281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610888479 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:13.70, Y:1.19, Z:0.05 [[ 9.96320293e-01 -8.56269392e-02 -3.72849579e-03 1.36962146e+01] [ 8.56252583e-02 9.96327228e-01 -6.08431441e-04 1.19032461e+00] [ 3.76689999e-03 2.86939177e-04 9.99992864e-01 4.77453446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640888479 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:13.72, Y:1.19, Z:0.05 [[ 9.96670670e-01 -8.14472826e-02 -3.73043907e-03 1.37215431e+01] [ 8.14456176e-02 9.96677609e-01 -5.96328527e-04 1.19249701e+00] [ 3.76661443e-03 2.90515238e-04 9.99992864e-01 4.68854320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670888479 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:13.75, Y:1.20, Z:0.05 [[ 9.96390921e-01 -8.48012182e-02 -3.72637359e-03 1.37508646e+01] [ 8.47994823e-02 9.96397843e-01 -6.21699944e-04 1.19877579e+00] [ 3.76567152e-03 3.03461628e-04 9.99992864e-01 5.12123482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.700888479 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:13.78, Y:1.20, Z:0.05 [[ 9.96365483e-01 -8.50994667e-02 -3.72895756e-03 1.37787605e+01] [ 8.50977928e-02 9.96372420e-01 -6.05565388e-04 1.20183227e+00] [ 3.76696376e-03 2.86038392e-04 9.99992864e-01 5.23889481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730888478999999 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:13.81, Y:1.20, Z:0.05 [[ 9.96408207e-01 -8.45977736e-02 -3.72849398e-03 1.38064667e+01] [ 8.45960855e-02 9.96415140e-01 -6.08455777e-04 1.20287150e+00] [ 3.76660185e-03 2.90854335e-04 9.99992864e-01 5.38541333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760888479 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:13.84, Y:1.21, Z:0.06 [[ 9.96454374e-01 -8.40522255e-02 -3.72886006e-03 1.38355583e+01] [ 8.40505421e-02 9.96461308e-01 -6.06175969e-04 1.20694216e+00] [ 3.76661521e-03 2.90613986e-04 9.99992864e-01 5.54158402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790888479 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:13.86, Y:1.21, Z:0.06 [[ 9.96456188e-01 -8.40306672e-02 -3.72998060e-03 1.38631068e+01] [ 8.40290095e-02 9.96463129e-01 -5.99200684e-04 1.21298878e+00] [ 3.76713937e-03 2.83650655e-04 9.99992864e-01 5.80911777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820888478999999 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:13.89, Y:1.22, Z:0.06 [[ 9.96480053e-01 -8.37472089e-02 -3.72940053e-03 1.38908552e+01] [ 8.37455358e-02 9.96486990e-01 -6.02808933e-04 1.21931471e+00] [ 3.76678267e-03 2.88366432e-04 9.99992864e-01 5.83040030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850888479 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:13.92, Y:1.22, Z:0.06 [[ 9.96555713e-01 -8.28420421e-02 -3.72923898e-03 1.39196496e+01] [ 8.28403591e-02 9.96562647e-01 -6.03811826e-04 1.22441029e+00] [ 3.76644127e-03 2.92800629e-04 9.99992864e-01 5.80163922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880888479 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:13.95, Y:1.23, Z:0.06 [[ 9.96546237e-01 -8.29558197e-02 -3.73211324e-03 1.39456904e+01] [ 8.29542038e-02 9.96553188e-01 -5.85974685e-04 1.22849520e+00] [ 3.76785936e-03 2.74356385e-04 9.99992864e-01 5.60038812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910888478999999 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:13.97, Y:1.23, Z:0.06 [[ 9.96553459e-01 -8.28692220e-02 -3.72762376e-03 1.39719474e+01] [ 8.28675022e-02 9.96560385e-01 -6.13756763e-04 1.22824913e+00] [ 3.76566371e-03 3.02742555e-04 9.99992864e-01 5.52731520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940888479 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:14.00, Y:1.23, Z:0.06 [[ 9.96541489e-01 -8.30131780e-02 -3.72462929e-03 1.40000990e+01] [ 8.30113905e-02 9.96548398e-01 -6.32232582e-04 1.23282505e+00] [ 3.76425698e-03 3.20859343e-04 9.99992864e-01 5.53761986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970888479 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:14.03, Y:1.24, Z:0.06 [[ 9.96550160e-01 -8.29090001e-02 -3.72515947e-03 1.40304377e+01] [ 8.29072241e-02 9.96557071e-01 -6.28952985e-04 1.23514979e+00] [ 3.76447987e-03 3.17940567e-04 9.99992864e-01 5.51906748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.000888479 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:14.06, Y:1.24, Z:0.06 [[ 9.96539635e-01 -8.30352140e-02 -3.72945025e-03 1.40577391e+01] [ 8.30335376e-02 9.96546571e-01 -6.02388313e-04 1.23714140e+00] [ 3.76659030e-03 2.90634382e-04 9.99992864e-01 5.56635778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030888478999998 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:14.09, Y:1.24, Z:0.06 [[ 9.96317083e-01 -8.56643583e-02 -3.72656725e-03 1.40866018e+01] [ 8.56626339e-02 9.96324008e-01 -6.20205097e-04 1.24310981e+00] [ 3.76599789e-03 2.98693366e-04 9.99992864e-01 5.65529068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.060888479 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:14.11, Y:1.25, Z:0.05 [[ 9.96207600e-01 -8.69281883e-02 -3.72923057e-03 1.41146185e+01] [ 8.69265339e-02 9.96214542e-01 -6.03754543e-04 1.24878954e+00] [ 3.76759701e-03 2.77295777e-04 9.99992864e-01 5.36789340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090888478999997 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:14.14, Y:1.25, Z:0.05 [[ 9.96225245e-01 -8.67257189e-02 -3.72976533e-03 1.41435816e+01] [ 8.67240753e-02 9.96232189e-01 -6.00455229e-04 1.25117078e+00] [ 3.76778719e-03 2.74728208e-04 9.99992864e-01 5.36656471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120888478999998 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:14.17, Y:1.25, Z:0.06 [[ 9.96196607e-01 -8.70539320e-02 -3.73273139e-03 1.41692903e+01] [ 8.70523590e-02 9.96203568e-01 -5.82129127e-04 1.25222694e+00] [ 3.76923695e-03 2.54971988e-04 9.99992864e-01 5.81064682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150888479 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:14.20, Y:1.26, Z:0.05 [[ 9.96222085e-01 -8.67620453e-02 -3.72903274e-03 1.41988467e+01] [ 8.67603853e-02 9.96229025e-01 -6.04929093e-04 1.25510941e+00] [ 3.76745554e-03 2.79111404e-04 9.99992864e-01 5.39102778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180888478999996 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:14.22, Y:1.26, Z:0.05 [[ 9.95996405e-01 -8.93154281e-02 -3.73022077e-03 1.42243210e+01] [ 8.93138131e-02 9.96003356e-01 -5.97621234e-04 1.26116869e+00] [ 3.76868920e-03 2.62068360e-04 9.99992864e-01 5.44164038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210888478999998 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:14.26, Y:1.27, Z:0.05 [[ 9.96014456e-01 -8.91141226e-02 -3.72513056e-03 1.42580184e+01] [ 8.91123900e-02 9.96021379e-01 -6.28865328e-04 1.26581285e+00] [ 3.76635045e-03 2.94403671e-04 9.99992864e-01 5.25492419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240888479 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:14.28, Y:1.27, Z:0.05 [[ 9.95991623e-01 -8.93684842e-02 -3.73633342e-03 1.42842685e+01] [ 8.93670102e-02 9.95998606e-01 -5.59943746e-04 1.27314749e+00] [ 3.77142421e-03 2.23794333e-04 9.99992863e-01 5.41588865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270888478999996 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:14.31, Y:1.28, Z:0.05 [[ 9.95971754e-01 -8.95897718e-02 -3.73328620e-03 1.43122418e+01] [ 8.95882295e-02 9.95978722e-01 -5.78646409e-04 1.27852158e+00] [ 3.77011442e-03 2.41856978e-04 9.99992864e-01 5.30382074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300888478999997 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:14.34, Y:1.28, Z:0.06 [[ 9.95973273e-01 -8.95728148e-02 -3.73508376e-03 1.43387627e+01] [ 8.95713136e-02 9.95980250e-01 -5.67615256e-04 1.28194104e+00] [ 3.77091255e-03 2.30773266e-04 9.99992863e-01 5.57135801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330888479 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:14.37, Y:1.29, Z:0.05 [[ 9.95975452e-01 -8.95486880e-02 -3.73249665e-03 1.43668521e+01] [ 8.95471275e-02 9.95982415e-01 -5.83451258e-04 1.28749551e+00] [ 3.76974832e-03 2.46868776e-04 9.99992864e-01 5.41835647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360888478999996 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:14.39, Y:1.29, Z:0.05 [[ 9.96093198e-01 -8.82292262e-02 -3.73431861e-03 1.43946227e+01] [ 8.82276979e-02 9.96100169e-01 -5.72340284e-04 1.29363746e+00] [ 3.77025254e-03 2.40633929e-04 9.99992864e-01 5.22855272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390888478999997 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:14.42, Y:1.30, Z:0.05 [[ 9.96128845e-01 -8.78258825e-02 -3.73351165e-03 1.44210193e+01] [ 8.78243331e-02 9.96135811e-01 -5.77252496e-04 1.29964375e+00] [ 3.76978237e-03 2.47124691e-04 9.99992864e-01 4.81776111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420888479 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:14.45, Y:1.31, Z:0.05 [[ 9.95805997e-01 -9.14137976e-02 -3.73287728e-03 1.44470477e+01] [ 9.14122589e-02 9.95812965e-01 -5.81116851e-04 1.30852935e+00] [ 3.77036969e-03 2.37448900e-04 9.99992864e-01 5.00349654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450888478999996 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:14.48, Y:1.31, Z:0.06 [[ 9.95986911e-01 -8.94213540e-02 -3.72752018e-03 1.44815733e+01] [ 8.94196801e-02 9.95993847e-01 -6.13657309e-04 1.30782195e+00] [ 3.76746124e-03 2.77880986e-04 9.99992864e-01 6.00736579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.480888478999997 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:14.51, Y:1.31, Z:0.06 [[ 9.95867207e-01 -9.07444711e-02 -3.73466278e-03 1.45069648e+01] [ 9.07429684e-02 9.95874183e-01 -5.70218344e-04 1.31051584e+00] [ 3.77099840e-03 2.28967363e-04 9.99992864e-01 6.29399702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510888479 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:14.54, Y:1.32, Z:0.06 [[ 9.94974070e-01 -1.00063296e-01 -3.73323617e-03 1.45394207e+01] [ 1.00061826e-01 9.94981053e-01 -5.78904866e-04 1.31513113e+00] [ 3.77242639e-03 2.02440902e-04 9.99992864e-01 5.77137053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.540888479 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:14.56, Y:1.32, Z:0.06 [[ 9.94786392e-01 -1.01911930e-01 -3.74065761e-03 1.45605086e+01] [ 1.01910643e-01 9.94793414e-01 -5.33545897e-04 1.32209284e+00] [ 3.77555625e-03 1.49551374e-04 9.99992861e-01 5.90998191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570888478999997 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:14.59, Y:1.33, Z:0.06 [[ 9.94455249e-01 -1.05094544e-01 -3.72745054e-03 1.45871334e+01] [ 1.05092979e-01 9.94462211e-01 -6.13755000e-04 1.32994925e+00] [ 3.77131101e-03 2.18622998e-04 9.99992865e-01 5.94548303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600888478999998 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:14.61, Y:1.33, Z:0.06 [[ 9.94451096e-01 -1.05133841e-01 -3.72739170e-03 1.46120502e+01] [ 1.05132275e-01 9.94458057e-01 -6.14112162e-04 1.33482622e+00] [ 3.77129868e-03 2.18835345e-04 9.99992865e-01 5.56391766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630888479 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:14.64, Y:1.34, Z:0.06 [[ 9.94514236e-01 -1.04535087e-01 -3.72156518e-03 1.46412566e+01] [ 1.04533386e-01 9.94521166e-01 -6.49178653e-04 1.33907043e+00] [ 3.76903729e-03 2.56589602e-04 9.99992864e-01 5.87229735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660888478999997 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:14.66, Y:1.34, Z:0.06 [[ 9.94339426e-01 -1.06184934e-01 -3.72368376e-03 1.46643829e+01] [ 1.06183292e-01 9.94346370e-01 -6.36425879e-04 1.34225212e+00] [ 3.77021027e-03 2.37430344e-04 9.99992865e-01 5.92451726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690888478999998 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:14.70, Y:1.35, Z:0.06 [[ 9.94734485e-01 -1.02418276e-01 -3.71502927e-03 1.46970666e+01] [ 1.02416412e-01 9.94741375e-01 -6.89069068e-04 1.34582449e+00] [ 3.76606659e-03 3.04960796e-04 9.99992862e-01 5.92450464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720888479 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:14.73, Y:1.35, Z:0.06 [[ 9.94922094e-01 -1.00579118e-01 -3.72384815e-03 1.47259890e+01] [ 1.00577440e-01 9.94929030e-01 -6.35643279e-04 1.35343051e+00] [ 3.76889706e-03 2.57880431e-04 9.99992864e-01 5.91269732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750888478999997 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:14.75, Y:1.36, Z:0.06 [[ 9.94926291e-01 -1.00537475e-01 -3.72715819e-03 1.47486953e+01] [ 1.00535871e-01 9.94933244e-01 -6.15602637e-04 1.36017235e+00] [ 3.77016473e-03 2.37766152e-04 9.99992865e-01 5.81614186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.780888478999998 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:14.78, Y:1.37, Z:0.06 [[ 9.95780845e-01 -9.16878458e-02 -3.72137585e-03 1.47778829e+01] [ 9.16860485e-02 9.95787751e-01 -6.51073041e-04 1.36923307e+00] [ 3.76539597e-03 3.07127816e-04 9.99992864e-01 6.44306724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810888479 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:14.80, Y:1.38, Z:0.07 [[ 9.95777309e-01 -9.17260511e-02 -3.72588070e-03 1.48023983e+01] [ 9.17243570e-02 9.95784241e-01 -6.23409588e-04 1.37837934e+00] [ 3.76735618e-03 2.79023111e-04 9.99992865e-01 6.60883240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.840888478999997 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:14.84, Y:1.39, Z:0.06 [[ 9.95814664e-01 -9.13198595e-02 -3.72010347e-03 1.48385624e+01] [ 9.13180311e-02 9.95821562e-01 -6.58796322e-04 1.38721446e+00] [ 3.76472043e-03 3.16326514e-04 9.99992863e-01 6.36519568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870888478999998 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:14.86, Y:1.39, Z:0.06 [[ 9.96083597e-01 -8.83374601e-02 -3.73633593e-03 1.48626671e+01] [ 8.83359830e-02 9.96090579e-01 -5.58845231e-04 1.38899453e+00] [ 3.77109599e-03 2.26603661e-04 9.99992864e-01 6.37255324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.900888479 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:14.89, Y:1.39, Z:0.07 [[ 9.96146773e-01 -8.76225271e-02 -3.72830388e-03 1.48907511e+01] [ 8.76208614e-02 9.96153710e-01 -6.08091037e-04 1.39151898e+00] [ 3.76724622e-03 2.79070726e-04 9.99992865e-01 6.61267213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930888478999996 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:14.92, Y:1.40, Z:0.07 [[ 9.96019412e-01 -8.90585863e-02 -3.72805071e-03 1.49178755e+01] [ 8.90569249e-02 9.96026351e-01 -6.09640448e-04 1.39575631e+00] [ 3.76753046e-03 2.75204989e-04 9.99992865e-01 6.74343236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960888478999998 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:14.95, Y:1.41, Z:0.06 [[ 9.95565568e-01 -9.39962876e-02 -3.72793862e-03 1.49457527e+01] [ 9.39946581e-02 9.95572515e-01 -6.10325834e-04 1.40512549e+00] [ 3.76880159e-03 2.57213069e-04 9.99992865e-01 6.36848183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990888479 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:14.97, Y:1.41, Z:0.06 [[ 9.95446163e-01 -9.52524801e-02 -3.72846115e-03 1.49729131e+01] [ 9.52508712e-02 9.95453114e-01 -6.07134159e-04 1.41263040e+00] [ 3.76933930e-03 2.49230196e-04 9.99992865e-01 6.18924918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020888478999996 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:15.00, Y:1.42, Z:0.06 [[ 9.95312729e-01 -9.66368600e-02 -3.72679319e-03 1.49990680e+01] [ 9.66352228e-02 9.95319674e-01 -6.17308253e-04 1.41871747e+00] [ 3.76900531e-03 2.54275272e-04 9.99992865e-01 6.13478176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050888478999997 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:15.03, Y:1.42, Z:0.06 [[ 9.95297098e-01 -9.67977867e-02 -3.72492832e-03 1.50280606e+01] [ 9.67961083e-02 9.95304033e-01 -6.28669128e-04 1.42347700e+00] [ 3.76828996e-03 2.65153994e-04 9.99992865e-01 6.36387732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080888479 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:15.06, Y:1.43, Z:0.07 [[ 9.95224905e-01 -9.75371398e-02 -3.72747483e-03 1.50554399e+01] [ 9.75355244e-02 9.95231855e-01 -6.13154682e-04 1.42985945e+00] [ 3.76950704e-03 2.46665599e-04 9.99992865e-01 6.51168153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110888478999996 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:15.08, Y:1.44, Z:0.07 [[ 9.95277094e-01 -9.70032117e-02 -3.72608803e-03 1.50820759e+01] [ 9.70015611e-02 9.95284035e-01 -6.21601183e-04 1.43627790e+00] [ 3.76881324e-03 2.57229063e-04 9.99992865e-01 6.55738991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140888478999997 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:15.11, Y:1.44, Z:0.07 [[ 9.95405988e-01 -9.56716186e-02 -3.72305821e-03 1.51119423e+01] [ 9.56698901e-02 9.95412911e-01 -6.40031909e-04 1.44219853e+00] [ 3.76721309e-03 2.80907025e-04 9.99992865e-01 6.71826484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170888479 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:15.14, Y:1.45, Z:0.07 [[ 9.95285091e-01 -9.69210687e-02 -3.72756900e-03 1.51390570e+01] [ 9.69194511e-02 9.95292040e-01 -6.12583777e-04 1.44881860e+00] [ 3.76939202e-03 2.48421559e-04 9.99992865e-01 6.66382143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200888478999996 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:15.16, Y:1.45, Z:0.07 [[ 9.95349466e-01 -9.62577071e-02 -3.72739374e-03 1.51649695e+01] [ 9.62560809e-02 9.95356414e-01 -6.13648290e-04 1.45499157e+00] [ 3.76915365e-03 2.52010184e-04 9.99992865e-01 6.80920722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230888478999997 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:15.19, Y:1.46, Z:0.07 [[ 9.95248184e-01 -9.72993412e-02 -3.72687427e-03 1.51941993e+01] [ 9.72977106e-02 9.95255131e-01 -6.16798996e-04 1.46273373e+00] [ 3.76920488e-03 2.51251747e-04 9.99992865e-01 6.70339631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.260888479 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:15.22, Y:1.47, Z:0.06 [[ 9.95560675e-01 -9.40479770e-02 -3.73087765e-03 1.52191567e+01] [ 9.40464142e-02 9.95567638e-01 -5.92519060e-04 1.47194511e+00] [ 3.77006627e-03 2.39013011e-04 9.99992865e-01 6.07763073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290888479 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:15.25, Y:1.48, Z:0.06 [[ 9.95774219e-01 -9.17595487e-02 -3.72700457e-03 1.52462626e+01] [ 9.17578826e-02 9.95781156e-01 -6.15954232e-04 1.47739876e+00] [ 3.76780060e-03 2.71369297e-04 9.99992865e-01 6.04586007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320888478999997 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:15.27, Y:1.48, Z:0.06 [[ 9.95905796e-01 -9.03202933e-02 -3.72682734e-03 1.52738702e+01] [ 9.03186132e-02 9.95912731e-01 -6.17024689e-04 1.48291336e+00] [ 3.76732464e-03 2.77896588e-04 9.99992865e-01 6.04169406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350888478999998 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:15.30, Y:1.49, Z:0.06 [[ 9.96163998e-01 -8.74265423e-02 -3.72664936e-03 1.53013174e+01] [ 8.74248381e-02 9.96170927e-01 -6.18097769e-04 1.49117222e+00] [ 3.76641790e-03 2.89925028e-04 9.99992865e-01 6.27540061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.380888479 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:15.33, Y:1.50, Z:0.07 [[ 9.96224003e-01 -8.67401278e-02 -3.72635846e-03 1.53282551e+01] [ 8.67384123e-02 9.96230929e-01 -6.19848842e-04 1.49828554e+00] [ 3.76607932e-03 2.94289878e-04 9.99992865e-01 6.54388846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410888478999997 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:15.36, Y:1.50, Z:0.07 [[ 9.96469568e-01 -8.38720158e-02 -3.72626373e-03 1.53550546e+01] [ 8.38702782e-02 9.96476488e-01 -6.20417822e-04 1.50356418e+00] [ 3.76516989e-03 3.05704704e-04 9.99992865e-01 6.70776944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440888478999998 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:15.38, Y:1.51, Z:0.06 [[ 9.96047090e-01 -8.87485787e-02 -3.72606617e-03 1.53796266e+01] [ 8.87468706e-02 9.96054018e-01 -6.21602050e-04 1.50799420e+00] [ 3.76652948e-03 2.88468201e-04 9.99992865e-01 6.44913153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470888479 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:15.41, Y:1.51, Z:0.07 [[ 9.95959181e-01 -8.97300275e-02 -3.71909593e-03 1.54127865e+01] [ 8.97281700e-02 9.95966071e-01 -6.63676611e-04 1.51105028e+00] [ 3.76364508e-03 3.27287143e-04 9.99992864e-01 6.74085973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500888478999997 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:15.44, Y:1.51, Z:0.07 [[ 9.95806205e-01 -9.14117729e-02 -3.72687877e-03 1.54411143e+01] [ 9.14101019e-02 9.95813142e-01 -6.16638165e-04 1.51332510e+00] [ 3.76764285e-03 2.73377742e-04 9.99992865e-01 6.83691470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530888478999998 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:15.47, Y:1.52, Z:0.07 [[ 9.95516527e-01 -9.45143214e-02 -3.72670337e-03 1.54694016e+01] [ 9.45126681e-02 9.95523467e-01 -6.17696443e-04 1.51552267e+00] [ 3.76840182e-03 2.62706339e-04 9.99992865e-01 6.69986681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560888479 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:15.50, Y:1.52, Z:0.07 [[ 9.95437001e-01 -9.53482609e-02 -3.72652681e-03 1.54973367e+01] [ 9.53466093e-02 9.95443942e-01 -6.18759789e-04 1.51975912e+00] [ 3.76854620e-03 2.60624693e-04 9.99992865e-01 6.64858128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590888478999997 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:15.52, Y:1.53, Z:0.06 [[ 9.95120202e-01 -9.85996871e-02 -3.72635007e-03 1.55232616e+01] [ 9.85980543e-02 9.95127147e-01 -6.19822289e-04 1.52708539e+00] [ 3.76930640e-03 2.49386814e-04 9.99992865e-01 6.22958279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620888478999998 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:15.55, Y:1.53, Z:0.06 [[ 9.95086751e-01 -9.89367912e-02 -3.72404964e-03 1.55501324e+01] [ 9.89351094e-02 9.95093685e-01 -6.33623576e-04 1.53213473e+00] [ 3.76846697e-03 2.62071167e-04 9.99992865e-01 6.27998812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650888479 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:15.58, Y:1.53, Z:0.07 [[ 9.95338066e-01 -9.63757200e-02 -3.72227791e-03 1.55807866e+01] [ 9.63739807e-02 9.95344986e-01 -6.44243038e-04 1.53452217e+00] [ 3.76704004e-03 2.82508880e-04 9.99992865e-01 6.50913722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680888478999996 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:15.61, Y:1.54, Z:0.07 [[ 9.95388361e-01 -9.58547186e-02 -3.72604150e-03 1.56096368e+01] [ 9.58530597e-02 9.95395301e-01 -6.21686161e-04 1.53905091e+00] [ 3.76847575e-03 2.61666691e-04 9.99992865e-01 6.59932188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710888478999998 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:15.64, Y:1.55, Z:0.06 [[ 9.95578303e-01 -9.38613231e-02 -3.72754140e-03 1.56355547e+01] [ 9.38596838e-02 9.95585247e-01 -6.12700680e-04 1.54503695e+00] [ 3.76859412e-03 2.60125646e-04 9.99992865e-01 6.49962023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740888479 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:15.66, Y:1.55, Z:0.06 [[ 9.95615100e-01 -9.34702045e-02 -3.72745642e-03 1.56619889e+01] [ 9.34685605e-02 9.95622043e-01 -6.13209081e-04 1.55131823e+00] [ 3.76845456e-03 2.62120234e-04 9.99992865e-01 6.45166410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770888478999996 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:15.69, Y:1.55, Z:0.07 [[ 9.95800715e-01 -9.14716478e-02 -3.72474372e-03 1.56907479e+01] [ 9.14699296e-02 9.95807640e-01 -6.29420850e-04 1.55466188e+00] [ 3.76670241e-03 2.86075687e-04 9.99992865e-01 6.55103951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800888478999997 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:15.72, Y:1.56, Z:0.06 [[ 9.95791760e-01 -9.15690481e-02 -3.72561341e-03 1.57172583e+01] [ 9.15673499e-02 9.95798690e-01 -6.24230254e-04 1.56035290e+00] [ 3.76712112e-03 2.80458797e-04 9.99992865e-01 6.15925549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830888479 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:15.74, Y:1.57, Z:0.06 [[ 9.95808650e-01 -9.13853329e-02 -3.72214883e-03 1.57444655e+01] [ 9.13835568e-02 9.95815560e-01 -6.44855320e-04 1.56629158e+00] [ 3.76550404e-03 3.02009307e-04 9.99992865e-01 6.00180060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860888478999996 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:15.77, Y:1.57, Z:0.06 [[ 9.95798933e-01 -9.14911743e-02 -3.72164751e-03 1.57715883e+01] [ 9.14893878e-02 9.95805841e-01 -6.47833466e-04 1.57089216e+00] [ 3.76530937e-03 3.04620622e-04 9.99992865e-01 6.01213147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890888478999997 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:15.81, Y:1.58, Z:0.05 [[ 9.95507892e-01 -9.46054302e-02 -3.72151891e-03 1.58099611e+01] [ 9.46036624e-02 9.95514805e-01 -6.48596654e-04 1.57941156e+00] [ 3.76618793e-03 2.93613770e-04 9.99992865e-01 5.40052677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.920888479 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:15.83, Y:1.58, Z:0.06 [[ 9.96086065e-01 -8.83094236e-02 -3.74121835e-03 1.58263339e+01] [ 8.83080508e-02 9.96093071e-01 -5.30859047e-04 1.58394841e+00] [ 3.77348153e-03 1.98401599e-04 9.99992861e-01 5.77078162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950888478999996 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:15.85, Y:1.59, Z:0.06 [[ 9.96243618e-01 -8.65147132e-02 -3.72254855e-03 1.58525764e+01] [ 8.65129139e-02 9.96250522e-01 -6.42001327e-04 1.58760241e+00] [ 3.76413350e-03 3.17541202e-04 9.99992865e-01 5.75001508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.980888478999997 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:15.88, Y:1.59, Z:0.06 [[ 9.96236030e-01 -8.66022042e-02 -3.71901178e-03 1.58817352e+01] [ 8.66003276e-02 9.96242914e-01 -6.63006417e-04 1.58972910e+00] [ 3.76245695e-03 3.38443242e-04 9.99992865e-01 5.69130570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010888479 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:15.91, Y:1.59, Z:0.06 [[ 9.96287537e-01 -8.60075701e-02 -3.72031201e-03 1.59141129e+01] [ 8.60057179e-02 9.96294428e-01 -6.55305166e-04 1.58543710e+00] [ 3.76288733e-03 3.32904265e-04 9.99992865e-01 6.03267734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040888478999996 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:15.94, Y:1.59, Z:0.06 [[ 9.96070026e-01 -8.84908399e-02 -3.72482648e-03 1.59425115e+01] [ 8.84891043e-02 9.96076947e-01 -6.28552234e-04 1.58823925e+00] [ 3.76583491e-03 2.96475482e-04 9.99992865e-01 6.17378437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070888478999997 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:15.97, Y:1.59, Z:0.06 [[ 9.95942478e-01 -8.99150048e-02 -3.72464579e-03 1.59691301e+01] [ 8.99132750e-02 9.95949400e-01 -6.29621136e-04 1.59208409e+00] [ 3.76617113e-03 2.92171333e-04 9.99992865e-01 6.01292360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100888478999998 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:16.00, Y:1.60, Z:0.06 [[ 9.95102831e-01 -9.87749196e-02 -3.72445952e-03 1.59966911e+01] [ 9.87732475e-02 9.95109767e-01 -6.30721085e-04 1.59634670e+00] [ 3.76854547e-03 2.59755375e-04 9.99992865e-01 6.17532855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130888479 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:16.02, Y:1.60, Z:0.06 [[ 9.94595958e-01 -1.03754566e-01 -3.72427138e-03 1.60213812e+01] [ 1.03752925e-01 9.94602901e-01 -6.31830075e-04 1.60299787e+00] [ 3.76972638e-03 2.42011591e-04 9.99992865e-01 6.14186507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.160888478999997 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:16.04, Y:1.61, Z:0.06 [[ 9.94514094e-01 -1.04536535e-01 -3.71882091e-03 1.60441661e+01] [ 1.04534779e-01 9.94521010e-01 -6.63872825e-04 1.60565272e+00] [ 3.76784449e-03 2.71484759e-04 9.99992865e-01 5.88393946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190888478999998 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:16.08, Y:1.61, Z:0.06 [[ 9.94403736e-01 -1.05581451e-01 -3.71030734e-03 1.60807072e+01] [ 1.05579517e-01 9.94410607e-01 -7.13818792e-04 1.60741412e+00] [ 3.76493500e-03 3.18091618e-04 9.99992862e-01 5.61215108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220888479 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:16.11, Y:1.61, Z:0.05 [[ 9.94005413e-01 -1.09267426e-01 -3.72412375e-03 1.61061685e+01] [ 1.09265821e-01 9.94012364e-01 -6.32464010e-04 1.61231817e+00] [ 3.77093277e-03 2.21753210e-04 9.99992865e-01 5.26352975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250888478999997 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:16.14, Y:1.61, Z:0.06 [[ 9.93985242e-01 -1.09450938e-01 -3.71904812e-03 1.61353445e+01] [ 1.09449222e-01 9.93992168e-01 -6.62290753e-04 1.61396850e+00] [ 3.76919305e-03 2.51260310e-04 9.99992865e-01 5.58570748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280888478999998 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:16.16, Y:1.62, Z:0.06 [[ 9.93772965e-01 -1.11361814e-01 -3.72016397e-03 1.61632038e+01] [ 1.11360136e-01 9.93779900e-01 -6.55734549e-04 1.61673042e+00] [ 3.77004797e-03 2.37373301e-04 9.99992865e-01 6.04139254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310888479 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:16.19, Y:1.62, Z:0.06 [[ 9.93785344e-01 -1.11251259e-01 -3.72118451e-03 1.61941152e+01] [ 1.11249603e-01 9.93792284e-01 -6.49776080e-04 1.62289198e+00] [ 3.77037286e-03 2.31757647e-04 9.99992865e-01 6.19079969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340888478999997 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:16.22, Y:1.63, Z:0.06 [[ 9.94016887e-01 -1.09162895e-01 -3.72711240e-03 1.62206283e+01] [ 1.09161353e-01 9.94023853e-01 -6.15193379e-04 1.62982296e+00] [ 3.77199492e-03 2.04655974e-04 9.99992865e-01 6.17877215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370888478999998 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:16.25, Y:1.64, Z:0.06 [[ 9.94119343e-01 -1.08226020e-01 -3.72284925e-03 1.62471112e+01] [ 1.08224379e-01 9.94126287e-01 -6.39992250e-04 1.63719080e+00] [ 3.77024611e-03 2.33325627e-04 9.99992865e-01 6.01881116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400888479 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:16.28, Y:1.64, Z:0.06 [[ 9.94635607e-01 -1.03373938e-01 -3.71997250e-03 1.62764416e+01] [ 1.03372202e-01 9.94642527e-01 -6.56697325e-04 1.63861625e+00] [ 3.76792824e-03 2.68632795e-04 9.99992865e-01 6.14940060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430888478999996 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:16.30, Y:1.64, Z:0.06 [[ 9.94746677e-01 -1.02299509e-01 -3.72267784e-03 1.63040906e+01] [ 1.02297823e-01 9.94753610e-01 -6.40985413e-04 1.64066342e+00] [ 3.76871971e-03 2.56796270e-04 9.99992865e-01 6.37448192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460888478999998 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:16.33, Y:1.64, Z:0.07 [[ 9.94761686e-01 -1.02153464e-01 -3.72249637e-03 1.63321409e+01] [ 1.02151774e-01 9.94768618e-01 -6.42037575e-04 1.64378101e+00] [ 3.76860893e-03 2.58414775e-04 9.99992865e-01 6.61071225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490888479 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:16.36, Y:1.65, Z:0.07 [[ 9.94727026e-01 -1.02490428e-01 -3.72231345e-03 1.63597754e+01] [ 1.02488735e-01 9.94733957e-01 -6.43096305e-04 1.64986957e+00] [ 3.76862281e-03 2.58210076e-04 9.99992865e-01 6.50907534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520888478999996 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:16.39, Y:1.66, Z:0.06 [[ 9.94853445e-01 -1.01255902e-01 -3.72366299e-03 1.63868743e+01] [ 1.01254230e-01 9.94860381e-01 -6.35292674e-04 1.65552368e+00] [ 3.76885191e-03 2.54986476e-04 9.99992865e-01 6.38040803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550888478999997 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:16.41, Y:1.66, Z:0.06 [[ 9.94915087e-01 -1.00648485e-01 -3.72196527e-03 1.64130703e+01] [ 1.00646772e-01 9.94922013e-01 -6.45087991e-04 1.66104891e+00] [ 3.76799231e-03 2.67203984e-04 9.99992865e-01 6.07444012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580888479 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:16.44, Y:1.66, Z:0.06 [[ 9.95227197e-01 -9.75139717e-02 -3.72188480e-03 1.64411777e+01] [ 9.75122355e-02 9.95234117e-01 -6.45551974e-04 1.66384031e+00] [ 3.76709707e-03 2.79541575e-04 9.99992865e-01 6.13242930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610888478999996 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:16.47, Y:1.67, Z:0.06 [[ 9.95317453e-01 -9.65883849e-02 -3.72170068e-03 1.64676547e+01] [ 9.65866383e-02 9.95324371e-01 -6.46611706e-04 1.66643260e+00] [ 3.76675457e-03 2.84117359e-04 9.99992865e-01 6.27528855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640888478999997 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:16.49, Y:1.67, Z:0.06 [[ 9.95076757e-01 -9.90373528e-02 -3.72162085e-03 1.64945376e+01] [ 9.90356216e-02 9.95083678e-01 -6.47070851e-04 1.67209984e+00] [ 3.76740835e-03 2.75312130e-04 9.99992865e-01 6.25280523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670888479 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:16.52, Y:1.68, Z:0.07 [[ 9.94872934e-01 -1.01064388e-01 -3.71957432e-03 1.65217064e+01] [ 1.01062627e-01 9.94879848e-01 -6.58827663e-04 1.67683477e+00] [ 3.76711355e-03 2.79539858e-04 9.99992865e-01 6.63518943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700888478999996 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:16.55, Y:1.68, Z:0.07 [[ 9.94802363e-01 -1.01756703e-01 -3.71926157e-03 1.65501218e+01] [ 1.01754940e-01 9.94809276e-01 -6.60621581e-04 1.68254319e+00] [ 3.76717858e-03 2.78734672e-04 9.99992865e-01 6.77139694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730888478999997 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:16.58, Y:1.69, Z:0.07 [[ 9.94610451e-01 -1.03615650e-01 -3.72134672e-03 1.65779605e+01] [ 1.03613944e-01 9.94617379e-01 -6.48659112e-04 1.68950423e+00] [ 3.76852735e-03 2.59579719e-04 9.99992865e-01 6.70653752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760888479 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:16.60, Y:1.70, Z:0.06 [[ 9.94398838e-01 -1.05627154e-01 -3.72237551e-03 1.66041674e+01] [ 1.05625485e-01 9.94405774e-01 -6.42766216e-04 1.69735008e+00] [ 3.76944526e-03 2.45988261e-04 9.99992865e-01 6.49223800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790888478999996 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:16.63, Y:1.70, Z:0.06 [[ 9.94358803e-01 -1.06003499e-01 -3.71880480e-03 1.66326556e+01] [ 1.06001756e-01 9.94365721e-01 -6.63170155e-04 1.70339962e+00] [ 3.76815037e-03 2.65229242e-04 9.99992865e-01 6.24032065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820888478999997 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:16.66, Y:1.71, Z:0.06 [[ 9.94356047e-01 -1.06029272e-01 -3.72091985e-03 1.66607128e+01] [ 1.06027574e-01 9.94362977e-01 -6.51082661e-04 1.70767100e+00] [ 3.76897876e-03 2.52887875e-04 9.99992865e-01 6.23770206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850888478999998 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:16.69, Y:1.71, Z:0.06 [[ 9.94485912e-01 -1.04804233e-01 -3.72073487e-03 1.66888940e+01] [ 1.04802523e-01 9.94492839e-01 -6.52138075e-04 1.71051362e+00] [ 3.76859101e-03 2.58599726e-04 9.99992865e-01 6.24745398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880888479 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:16.72, Y:1.72, Z:0.06 [[ 9.94514254e-01 -1.04534952e-01 -3.72054767e-03 1.67158379e+01] [ 1.04533237e-01 9.94521179e-01 -6.53204340e-04 1.71625886e+00] [ 3.76844614e-03 2.60700137e-04 9.99992865e-01 5.93773783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910888478999997 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:16.74, Y:1.72, Z:0.06 [[ 9.94515692e-01 -1.04521281e-01 -3.72035749e-03 1.67441468e+01] [ 1.04519561e-01 9.94522616e-01 -6.54285744e-04 1.72238806e+00] [ 3.76836644e-03 2.61847309e-04 9.99992865e-01 6.08547987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940888478999998 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:16.77, Y:1.73, Z:0.06 [[ 9.94749826e-01 -1.02268955e-01 -3.72081990e-03 1.67721913e+01] [ 1.02267229e-01 9.94756749e-01 -6.51659985e-04 1.72784814e+00] [ 3.76795529e-03 2.67720714e-04 9.99992865e-01 6.42056042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970888479 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:16.80, Y:1.73, Z:0.07 [[ 9.94809402e-01 -1.01687769e-01 -3.72166585e-03 1.68003413e+01] [ 1.01686057e-01 9.94816329e-01 -6.46862927e-04 1.73206496e+00] [ 3.76815200e-03 2.65063798e-04 9.99992865e-01 6.54913591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000888478999997 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:16.83, Y:1.74, Z:0.07 [[ 9.94821554e-01 -1.01568823e-01 -3.72143578e-03 1.68271198e+01] [ 1.01567105e-01 9.94828479e-01 -6.48165136e-04 1.73618540e+00] [ 3.76802367e-03 2.66833188e-04 9.99992865e-01 6.63896011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030888478999998 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:16.86, Y:1.74, Z:0.07 [[ 9.94911990e-01 -1.00679176e-01 -3.71964317e-03 1.68559432e+01] [ 1.00677415e-01 9.94918904e-01 -6.58294183e-04 1.73975178e+00] [ 3.76701982e-03 2.80460718e-04 9.99992865e-01 6.80169296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060888479 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:16.88, Y:1.74, Z:0.07 [[ 9.95055652e-01 -9.92492303e-02 -3.72009484e-03 1.68837610e+01] [ 9.92474684e-02 9.95062566e-01 -6.55743879e-04 1.74370635e+00] [ 3.76680920e-03 2.83291658e-04 9.99992865e-01 6.75739170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090888478999997 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:16.91, Y:1.75, Z:0.07 [[ 9.94871701e-01 -1.01076496e-01 -3.72035338e-03 1.69102280e+01] [ 1.01074752e-01 9.94878619e-01 -6.54286397e-04 1.74939547e+00] [ 3.76743300e-03 2.74897227e-04 9.99992865e-01 6.60358110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120888478999998 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:16.94, Y:1.75, Z:0.06 [[ 9.94705904e-01 -1.02695390e-01 -3.71765033e-03 1.69384214e+01] [ 1.02693601e-01 9.94712811e-01 -6.69507367e-04 1.75272911e+00] [ 3.76674973e-03 2.84184031e-04 9.99992865e-01 6.43694583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150888479 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:16.97, Y:1.76, Z:0.07 [[ 9.94692744e-01 -1.02822777e-01 -3.71760492e-03 1.69693291e+01] [ 1.02820988e-01 9.94699651e-01 -6.69762482e-04 1.75616635e+00] [ 3.76676715e-03 2.83960071e-04 9.99992865e-01 6.53650534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180888478999996 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:16.99, Y:1.76, Z:0.06 [[ 9.94682128e-01 -1.02925190e-01 -3.72417148e-03 1.69925713e+01] [ 1.02923539e-01 9.94689069e-01 -6.32867191e-04 1.76035254e+00] [ 3.76953064e-03 2.46196776e-04 9.99992865e-01 6.41650936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210888478999998 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:17.02, Y:1.77, Z:0.07 [[ 9.94697935e-01 -1.02772670e-01 -3.71425353e-03 1.70204185e+01] [ 1.02770810e-01 9.94704824e-01 -6.88785791e-04 1.76550997e+00] [ 3.76537426e-03 3.03416961e-04 9.99992865e-01 6.59646926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240888479 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:17.05, Y:1.77, Z:0.07 [[ 9.95012402e-01 -9.96821721e-02 -3.71271744e-03 1.70515407e+01] [ 9.96802585e-02 9.95019276e-01 -6.97391531e-04 1.76809749e+00] [ 3.76374292e-03 3.23828589e-04 9.99992865e-01 6.98631222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270888478999996 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:17.07, Y:1.77, Z:0.07 [[ 9.94930624e-01 -1.00494902e-01 -3.71874923e-03 1.70744429e+01] [ 1.00493119e-01 9.94937532e-01 -6.63589426e-04 1.77339325e+00] [ 3.76661054e-03 2.86516732e-04 9.99992865e-01 6.82765950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300888478999997 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:17.11, Y:1.78, Z:0.07 [[ 9.95276512e-01 -9.70097831e-02 -3.71042077e-03 1.71068116e+01] [ 9.70078028e-02 9.95283367e-01 -7.10455309e-04 1.77750205e+00] [ 3.76184119e-03 3.47159716e-04 9.99992864e-01 7.08390644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330888479 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:17.13, Y:1.78, Z:0.07 [[ 9.95484674e-01 -9.48495089e-02 -3.71944485e-03 1.71349717e+01] [ 9.48477022e-02 9.95491576e-01 -6.59566466e-04 1.78488266e+00] [ 3.76523558e-03 3.03807511e-04 9.99992865e-01 6.58135199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360888478999996 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:17.16, Y:1.79, Z:0.07 [[ 9.95637038e-01 -9.32365520e-02 -3.71928703e-03 1.71627917e+01] [ 9.32347308e-02 9.95643937e-01 -6.60455211e-04 1.78816518e+00] [ 3.76466415e-03 3.10806944e-04 9.99992865e-01 6.65863287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390888478999997 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:17.19, Y:1.79, Z:0.06 [[ 9.95637959e-01 -9.32267654e-02 -3.71817630e-03 1.71910502e+01] [ 9.32249210e-02 9.95644851e-01 -6.66700438e-04 1.79340920e+00] [ 3.76413741e-03 3.17165572e-04 9.99992865e-01 6.46232873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.420888479 meters Centerline goodness : 0.997141 Centerline is valid? [True, True] Translation: X:17.22, Y:1.80, Z:0.07 [[ 9.95667704e-01 -9.29085133e-02 -3.71898050e-03 1.72171343e+01] [ 9.29066834e-02 9.95674600e-01 -6.62183862e-04 1.79506397e+00] [ 3.76441694e-03 3.13796942e-04 9.99992865e-01 6.66354230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450888478999996 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:17.24, Y:1.80, Z:0.06 [[ 9.95480031e-01 -9.48984657e-02 -3.71335041e-03 1.72416453e+01] [ 9.48965326e-02 9.95486899e-01 -6.93735357e-04 1.80004462e+00] [ 3.76242611e-03 3.38215616e-04 9.99992865e-01 6.45083107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.480888478999997 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:17.27, Y:1.80, Z:0.07 [[ 9.95606870e-01 -9.35586217e-02 -3.70750547e-03 1.72745508e+01] [ 9.35565585e-02 9.95613702e-01 -7.26453394e-04 1.80217130e+00] [ 3.75920922e-03 3.76400537e-04 9.99992863e-01 6.69358304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510888479 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:17.30, Y:1.81, Z:0.06 [[ 9.95414427e-01 -9.55840966e-02 -3.71473558e-03 1.73032740e+01] [ 9.55821971e-02 9.95421304e-01 -6.85950136e-04 1.81157177e+00] [ 3.76329286e-03 3.27742072e-04 9.99992865e-01 6.24216120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.540888478999996 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:17.33, Y:1.82, Z:0.06 [[ 9.95273503e-01 -9.70403343e-02 -3.71868959e-03 1.73253074e+01] [ 9.70385271e-02 9.95280405e-01 -6.63799310e-04 1.81908460e+00] [ 3.76555418e-03 2.99805704e-04 9.99992865e-01 5.99511393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570888478999997 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:17.35, Y:1.82, Z:0.06 [[ 9.95402158e-01 -9.57120092e-02 -3.70869359e-03 1.73540433e+01] [ 9.57099857e-02 9.95409002e-01 -7.19726413e-04 1.82221159e+00] [ 3.76055345e-03 3.61458214e-04 9.99992864e-01 5.96655069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600888478999998 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:17.38, Y:1.82, Z:0.06 [[ 9.95357867e-01 -9.61714710e-02 -3.71012577e-03 1.73835488e+01] [ 9.61694802e-02 9.95364719e-01 -7.11717270e-04 1.81973071e+00] [ 3.76137519e-03 3.51612517e-04 9.99992864e-01 6.38863669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630888479 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:17.41, Y:1.82, Z:0.07 [[ 9.95438270e-01 -9.53355741e-02 -3.71203007e-03 1.74107471e+01] [ 9.53336165e-02 9.95445132e-01 -7.01184692e-04 1.82081195e+00] [ 3.76197011e-03 3.44104826e-04 9.99992865e-01 6.62247031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660888478999997 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:17.44, Y:1.83, Z:0.07 [[ 9.95196148e-01 -9.78307154e-02 -3.71189476e-03 1.74412093e+01] [ 9.78287722e-02 9.95203014e-01 -7.01931589e-04 1.82778247e+00] [ 3.76275932e-03 3.35429507e-04 9.99992865e-01 6.59712198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690888478999998 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:17.47, Y:1.84, Z:0.06 [[ 9.94988415e-01 -9.99211555e-02 -3.71714652e-03 1.74677800e+01] [ 9.99193343e-02 9.94995313e-01 -6.72921476e-04 1.83688283e+00] [ 3.76578245e-03 2.98134268e-04 9.99992865e-01 6.15035558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720888479 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:17.50, Y:1.84, Z:0.06 [[ 9.95096496e-01 -9.88390015e-02 -3.71694489e-03 1.74967723e+01] [ 9.88371687e-02 9.95103391e-01 -6.74033317e-04 1.84175081e+00] [ 3.76536525e-03 3.03355882e-04 9.99992865e-01 6.06240731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750888478999997 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:17.52, Y:1.85, Z:0.06 [[ 9.95078701e-01 -9.90179588e-02 -3.71780273e-03 1.75238321e+01] [ 9.90161448e-02 9.95085602e-01 -6.69308432e-04 1.84685432e+00] [ 3.76580553e-03 2.97892071e-04 9.99992865e-01 6.07292316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780888478999998 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:17.55, Y:1.85, Z:0.06 [[ 9.95130739e-01 -9.84936118e-02 -3.71770045e-03 1.75503557e+01] [ 9.84917921e-02 9.95137638e-01 -6.69871280e-04 1.85189023e+00] [ 3.76560169e-03 3.00446522e-04 9.99992865e-01 6.09007767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810888479 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:17.58, Y:1.86, Z:0.06 [[ 9.94961755e-01 -1.00186293e-01 -3.71653293e-03 1.75820640e+01] [ 1.00184461e-01 9.94968651e-01 -6.76287379e-04 1.85711966e+00] [ 3.76558848e-03 3.00541229e-04 9.99992865e-01 5.98758957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840888478999997 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:17.60, Y:1.86, Z:0.06 [[ 9.95083012e-01 -9.89744990e-02 -3.72136266e-03 1.76036294e+01] [ 9.89727568e-02 9.95089931e-01 -6.49886401e-04 1.85781101e+00] [ 3.76741270e-03 2.78377395e-04 9.99992865e-01 6.28513019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870888478999998 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:17.63, Y:1.86, Z:0.06 [[ 9.95010092e-01 -9.97054865e-02 -3.70584740e-03 1.76300429e+01] [ 9.97034302e-02 9.95016927e-01 -7.36017045e-04 1.86153579e+00] [ 3.76076583e-03 3.62858690e-04 9.99992862e-01 6.27677770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900888479 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:17.66, Y:1.87, Z:0.06 [[ 9.94833343e-01 -1.01453899e-01 -3.70480115e-03 1.76608908e+01] [ 1.01451834e-01 9.94840176e-01 -7.41812421e-04 1.86708373e+00] [ 3.76094479e-03 3.62120861e-04 9.99992862e-01 6.27846006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930888478999996 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:17.69, Y:1.87, Z:0.06 [[ 9.95057066e-01 -9.92353706e-02 -3.71166170e-03 1.76861682e+01] [ 9.92334306e-02 9.95063933e-01 -7.03671605e-04 1.87281507e+00] [ 3.76316980e-03 3.31872479e-04 9.99992864e-01 6.36784838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960888478999998 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:17.72, Y:1.88, Z:0.07 [[ 9.95423047e-01 -9.54946073e-02 -3.70631284e-03 1.77180098e+01] [ 9.54925319e-02 9.95429876e-01 -7.33355884e-04 1.87744877e+00] [ 3.75940606e-03 3.76074152e-04 9.99992863e-01 6.50955429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990888479 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:17.74, Y:1.88, Z:0.06 [[ 9.95475134e-01 -9.49498561e-02 -3.71258788e-03 1.77443332e+01] [ 9.49479057e-02 9.95481997e-01 -6.98516858e-04 1.88205241e+00] [ 3.76213847e-03 3.42853718e-04 9.99992864e-01 6.45811275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020888478999996 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:17.77, Y:1.89, Z:0.06 [[ 9.95488294e-01 -9.48118144e-02 -3.71156380e-03 1.77717697e+01] [ 9.48098420e-02 9.95495152e-01 -7.04202210e-04 1.88571606e+00] [ 3.76161046e-03 3.49132279e-04 9.99992864e-01 6.45754816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050888478999997 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:17.80, Y:1.89, Z:0.07 [[ 9.95490550e-01 -9.47881447e-02 -3.71122576e-03 1.78027999e+01] [ 9.47861652e-02 9.95497405e-01 -7.06076644e-04 1.88507583e+00] [ 3.76144331e-03 3.51119768e-04 9.99992864e-01 6.73924857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080888479 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:17.83, Y:1.89, Z:0.07 [[ 9.95610195e-01 -9.35228662e-02 -3.71661650e-03 1.78304849e+01] [ 9.35209887e-02 9.95617079e-01 -6.76163070e-04 1.88684743e+00] [ 3.76356357e-03 3.25613197e-04 9.99992865e-01 6.68795004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110888478999996 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:17.86, Y:1.89, Z:0.07 [[ 9.95527194e-01 -9.44022530e-02 -3.71769007e-03 1.78586062e+01] [ 9.44004036e-02 9.95534085e-01 -6.70207909e-04 1.89090321e+00] [ 3.76435632e-03 3.16258756e-04 9.99992865e-01 6.76846054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140888478999997 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:17.89, Y:1.90, Z:0.06 [[ 9.95373724e-01 -9.60069239e-02 -3.71750055e-03 1.78871919e+01] [ 9.60050818e-02 9.95380617e-01 -6.71257501e-04 1.89623786e+00] [ 3.76477336e-03 3.11253135e-04 9.99992865e-01 6.40504923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170888479 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:17.91, Y:1.90, Z:0.07 [[ 9.95071577e-01 -9.90895265e-02 -3.71785188e-03 1.79149549e+01] [ 9.90877129e-02 9.95078478e-01 -6.69313112e-04 1.90253356e+00] [ 3.76587631e-03 2.97621014e-04 9.99992865e-01 6.50231915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200888478999996 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:17.94, Y:1.91, Z:0.06 [[ 9.94822628e-01 -1.01558462e-01 -3.71724032e-03 1.79404597e+01] [ 1.01556654e-01 9.94829530e-01 -6.72692565e-04 1.90847037e+00] [ 3.76633806e-03 2.91699298e-04 9.99992865e-01 6.47204822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230888478999997 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:17.97, Y:1.91, Z:0.07 [[ 9.94617747e-01 -1.03545912e-01 -3.71239061e-03 1.79677735e+01] [ 1.03544017e-01 9.94624626e-01 -6.99445264e-04 1.91368628e+00] [ 3.76485983e-03 3.11284836e-04 9.99992864e-01 6.65163747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260888479 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:18.00, Y:1.92, Z:0.07 [[ 9.94486700e-01 -1.04797107e-01 -3.71083853e-03 1.79958299e+01] [ 1.04795189e-01 9.94493573e-01 -7.07999983e-04 1.91762062e+00] [ 3.76460142e-03 3.15218540e-04 9.99992864e-01 6.59700526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290888478999996 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:18.02, Y:1.92, Z:0.07 [[ 9.94441093e-01 -1.05229007e-01 -3.71073232e-03 1.80244368e+01] [ 1.05227090e-01 9.94447966e-01 -7.08585024e-04 1.91935220e+00] [ 3.76469391e-03 3.14176500e-04 9.99992864e-01 6.86830678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320888478999997 meters Centerline goodness : 0.997035 Centerline is valid? [True, True] Translation: X:18.06, Y:1.92, Z:0.07 [[ 9.94525499e-01 -1.04428249e-01 -3.71119788e-03 1.80550298e+01] [ 1.04426337e-01 9.94532373e-01 -7.06022179e-04 1.92183141e+00] [ 3.76463510e-03 3.14610260e-04 9.99992864e-01 6.88948360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350888478999998 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:18.08, Y:1.93, Z:0.07 [[ 9.94231150e-01 -1.07194236e-01 -3.71690571e-03 1.80796911e+01] [ 1.07192459e-01 9.94238061e-01 -6.74571944e-04 1.92980992e+00] [ 3.76779935e-03 2.72256177e-04 9.99992865e-01 6.70851843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.380888479 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:18.11, Y:1.94, Z:0.06 [[ 9.94177946e-01 -1.07686768e-01 -3.71112468e-03 1.81065121e+01] [ 1.07684877e-01 9.94184826e-01 -7.06359751e-04 1.93874722e+00] [ 3.76560945e-03 3.02615282e-04 9.99992864e-01 6.45446563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410888478999997 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:18.13, Y:1.94, Z:0.06 [[ 9.94332656e-01 -1.06248759e-01 -3.71091747e-03 1.81347784e+01] [ 1.06246853e-01 9.94339532e-01 -7.07497890e-04 1.94362952e+00] [ 3.76508271e-03 3.09214951e-04 9.99992864e-01 6.39095609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440888478999998 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:18.16, Y:1.95, Z:0.07 [[ 9.94541381e-01 -1.04276824e-01 -3.71278231e-03 1.81610739e+01] [ 1.04274943e-01 9.94548264e-01 -6.97239880e-04 1.94742941e+00] [ 3.76524716e-03 3.06283750e-04 9.99992865e-01 6.64867727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470888479 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:18.19, Y:1.95, Z:0.06 [[ 9.94921509e-01 -1.00585393e-01 -3.71069460e-03 1.81910153e+01] [ 1.00583443e-01 9.94928374e-01 -7.08712733e-04 1.95090803e+00] [ 3.76316149e-03 3.31879101e-04 9.99992864e-01 6.42526853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500888478999997 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:18.22, Y:1.96, Z:0.07 [[ 9.95102695e-01 -9.87766719e-02 -3.71411960e-03 1.82184981e+01] [ 9.87747800e-02 9.95109575e-01 -6.89866140e-04 1.95595237e+00] [ 3.76409866e-03 3.19626309e-04 9.99992865e-01 6.50119868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530888478999998 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:18.25, Y:1.96, Z:0.06 [[ 9.95284558e-01 -9.69271047e-02 -3.71279956e-03 1.82474978e+01] [ 9.69251732e-02 9.95291427e-01 -6.97117538e-04 1.96059165e+00] [ 3.76288715e-03 3.33966581e-04 9.99992865e-01 6.35090144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560888479 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:18.27, Y:1.97, Z:0.07 [[ 9.95328863e-01 -9.64709918e-02 -3.71520023e-03 1.82748473e+01] [ 9.64691059e-02 9.95335744e-01 -6.83933494e-04 1.96561797e+00] [ 3.76385133e-03 3.22336702e-04 9.99992865e-01 6.64909745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590888478999997 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:18.30, Y:1.97, Z:0.07 [[ 9.95452054e-01 -9.51914890e-02 -3.71341148e-03 1.83049603e+01] [ 9.51895578e-02 9.95458923e-01 -6.93766291e-04 1.96797763e+00] [ 3.76258924e-03 3.37133082e-04 9.99992865e-01 7.04853730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620888478999998 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:18.33, Y:1.97, Z:0.07 [[ 9.95358510e-01 -9.61645626e-02 -3.71656515e-03 1.83308325e+01] [ 9.61627024e-02 9.95365399e-01 -6.76439034e-04 1.97322244e+00] [ 3.76438982e-03 3.15904400e-04 9.99992865e-01 6.94817525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650888479 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:18.36, Y:1.98, Z:0.07 [[ 9.95439213e-01 -9.53256690e-02 -3.71346514e-03 1.83594844e+01] [ 9.53237401e-02 9.95446083e-01 -6.93419936e-04 1.97725910e+00] [ 3.76265505e-03 3.36276010e-04 9.99992865e-01 6.77833599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680888478999996 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:18.39, Y:1.98, Z:0.07 [[ 9.95244048e-01 -9.73420565e-02 -3.71616301e-03 1.83855900e+01] [ 9.73401962e-02 9.95250936e-01 -6.78646853e-04 1.98414182e+00] [ 3.76457559e-03 3.13687205e-04 9.99992865e-01 6.56893875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710888478999998 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:18.41, Y:1.99, Z:0.07 [[ 9.95152508e-01 -9.82735624e-02 -3.71382178e-03 1.84131670e+01] [ 9.82716611e-02 9.95159385e-01 -6.91464191e-04 1.98835646e+00] [ 3.76379725e-03 3.23148889e-04 9.99992865e-01 6.63286101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740888479 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:18.44, Y:1.99, Z:0.07 [[ 9.95187749e-01 -9.79160458e-02 -3.71377087e-03 1.84432773e+01] [ 9.79141410e-02 9.95194625e-01 -6.91742887e-04 1.99043347e+00] [ 3.76365753e-03 3.24783363e-04 9.99992865e-01 6.53255347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770888478999996 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:18.47, Y:1.99, Z:0.06 [[ 9.94935903e-01 -1.00442732e-01 -3.71581388e-03 1.84715642e+01] [ 1.00440887e-01 9.94942795e-01 -6.80568117e-04 1.99361713e+00] [ 3.76538036e-03 3.03902014e-04 9.99992865e-01 6.29849991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800888478999997 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:18.50, Y:2.00, Z:0.06 [[ 9.94748633e-01 -1.02280736e-01 -3.71594964e-03 1.84993859e+01] [ 1.02278905e-01 9.94755529e-01 -6.79826045e-04 1.99821814e+00] [ 3.76599456e-03 2.96192768e-04 9.99992865e-01 6.48943755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830888479 meters Centerline goodness : 0.996620 Centerline is valid? [True, True] Translation: X:18.53, Y:2.00, Z:0.07 [[ 9.94499381e-01 -1.04676524e-01 -3.71578959e-03 1.85280698e+01] [ 1.04674707e-01 9.94506281e-01 -6.80699421e-04 2.00215327e+00] [ 3.76662933e-03 2.88005966e-04 9.99992865e-01 6.95375350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860888478999996 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:18.56, Y:2.01, Z:0.07 [[ 9.94359049e-01 -1.06001303e-01 -3.71558133e-03 1.85554892e+01] [ 1.05999491e-01 9.94365950e-01 -6.81834331e-04 2.00738418e+00] [ 3.76692288e-03 2.84138408e-04 9.99992865e-01 7.04895829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890888478999997 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:18.59, Y:2.01, Z:0.07 [[ 9.94348593e-01 -1.06099343e-01 -3.71548965e-03 1.85866004e+01] [ 1.06097529e-01 9.94355494e-01 -6.82333543e-04 2.01155734e+00] [ 3.76691268e-03 2.84273126e-04 9.99992865e-01 7.01864088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920888479 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:18.61, Y:2.02, Z:0.07 [[ 9.94184536e-01 -1.07625623e-01 -3.71940664e-03 1.86107618e+01] [ 1.07623900e-01 9.94191460e-01 -6.61003719e-04 2.01642205e+00] [ 3.76894325e-03 2.56862629e-04 9.99992865e-01 6.95411128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950888478999996 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:18.64, Y:2.02, Z:0.07 [[ 9.94364463e-01 -1.05950512e-01 -3.71523117e-03 1.86429446e+01] [ 1.05948692e-01 9.94371363e-01 -6.83693449e-04 2.01914245e+00] [ 3.76675716e-03 2.86216584e-04 9.99992865e-01 6.83952158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980888478999997 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:18.67, Y:2.02, Z:0.07 [[ 9.94627691e-01 -1.03450024e-01 -3.72138033e-03 1.86702872e+01] [ 1.03448312e-01 9.94634618e-01 -6.50297889e-04 2.02423226e+00] [ 3.76868704e-03 2.61833775e-04 9.99992864e-01 6.72952081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010888479 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:18.70, Y:2.03, Z:0.07 [[ 9.94650253e-01 -1.03232897e-01 -3.72075545e-03 1.86977155e+01] [ 1.03231171e-01 9.94657176e-01 -6.53684069e-04 2.03186286e+00] [ 3.76835781e-03 2.66089083e-04 9.99992864e-01 6.62510205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040888478999996 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:18.73, Y:2.04, Z:0.06 [[ 9.94828561e-01 -1.01500248e-01 -3.71936738e-03 1.87261874e+01] [ 1.01498481e-01 9.94835474e-01 -6.61187789e-04 2.03751296e+00] [ 3.76726933e-03 2.80258357e-04 9.99992865e-01 6.44431327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070888478999997 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:18.75, Y:2.04, Z:0.06 [[ 9.95001925e-01 -9.97864483e-02 -3.71944060e-03 1.87542924e+01] [ 9.97846713e-02 9.95008836e-01 -6.60792418e-04 2.04074985e+00] [ 3.76681439e-03 2.86346571e-04 9.99992865e-01 6.19548561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100888478999998 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:18.78, Y:2.04, Z:0.06 [[ 9.94944418e-01 -1.00358237e-01 -3.71882800e-03 1.87798515e+01] [ 1.00356451e-01 9.94951326e-01 -6.64094995e-04 2.04462218e+00] [ 3.76670026e-03 2.87529227e-04 9.99992865e-01 6.29872594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130888478999996 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:18.81, Y:2.05, Z:0.06 [[ 9.95006546e-01 -9.97405655e-02 -3.71396745e-03 1.88110944e+01] [ 9.97386788e-02 9.95013427e-01 -6.90247844e-04 2.04618907e+00] [ 3.76429319e-03 3.16374917e-04 9.99992865e-01 6.47384971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.160888478999997 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:18.84, Y:2.05, Z:0.07 [[ 9.94847841e-01 -1.01311164e-01 -3.71777130e-03 1.88395754e+01] [ 1.01309364e-01 9.94854745e-01 -6.69789276e-04 2.04775744e+00] [ 3.76649955e-03 2.89693368e-04 9.99992865e-01 6.81426435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190888478999998 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:18.86, Y:2.05, Z:0.07 [[ 9.94547674e-01 -1.04216656e-01 -3.71662079e-03 1.88617802e+01] [ 1.04214853e-01 9.94554577e-01 -6.75970516e-04 2.05434030e+00] [ 3.76682961e-03 2.84957813e-04 9.99992865e-01 7.02739494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.220888479 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:18.89, Y:2.06, Z:0.07 [[ 9.94653992e-01 -1.03197402e-01 -3.70564593e-03 1.88942075e+01] [ 1.03195375e-01 9.94660834e-01 -7.34582605e-04 2.05999929e+00] [ 3.76166789e-03 3.48249997e-04 9.99992864e-01 7.10539501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250888478999997 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:18.92, Y:2.07, Z:0.07 [[ 9.94294746e-01 -1.06602860e-01 -3.71312700e-03 1.89165034e+01] [ 1.06601005e-01 9.94301636e-01 -6.94590507e-04 2.06674684e+00] [ 3.76601358e-03 2.94804622e-04 9.99992865e-01 7.08872669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280888478999998 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:18.95, Y:2.06, Z:0.07 [[ 9.94387569e-01 -1.05733773e-01 -3.70569636e-03 1.89481716e+01] [ 1.05731765e-01 9.94394416e-01 -7.34232334e-04 2.06458657e+00] [ 3.76255692e-03 3.38301689e-04 9.99992864e-01 6.63097651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310888479 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:18.97, Y:2.07, Z:0.07 [[ 9.94051415e-01 -1.08848596e-01 -3.71034508e-03 1.89718710e+01] [ 1.08846701e-01 9.94058294e-01 -7.09385771e-04 2.06725927e+00] [ 3.76551495e-03 3.01307109e-04 9.99992865e-01 6.57579984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.340888478999997 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:19.00, Y:2.07, Z:0.06 [[ 9.93832584e-01 -1.10829148e-01 -3.70077893e-03 1.90001237e+01] [ 1.10827078e-01 9.93839414e-01 -7.60400509e-04 2.07210375e+00] [ 3.76225450e-03 3.45564287e-04 9.99992863e-01 6.31006162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370888478999998 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:19.03, Y:2.08, Z:0.06 [[ 9.94320714e-01 -1.06360784e-01 -3.70141308e-03 1.90279231e+01] [ 1.06358696e-01 9.94327539e-01 -7.57011743e-04 2.07852904e+00] [ 3.76093332e-03 3.59034990e-04 9.99992863e-01 6.42169810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400888479 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:19.05, Y:2.09, Z:0.06 [[ 9.94417038e-01 -1.05456380e-01 -3.70220369e-03 1.90543305e+01] [ 1.05454301e-01 9.94423865e-01 -7.52790985e-04 2.08543834e+00] [ 3.76094632e-03 3.58174878e-04 9.99992863e-01 6.33612932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430888478999996 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:19.09, Y:2.09, Z:0.07 [[ 9.94908885e-01 -1.00710539e-01 -3.70100620e-03 1.90880194e+01] [ 1.00708404e-01 9.94915695e-01 -7.59173811e-04 2.08791368e+00] [ 3.75864596e-03 3.82586342e-04 9.99992863e-01 6.63855144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460888478999998 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:19.11, Y:2.09, Z:0.07 [[ 9.94893713e-01 -1.00859870e-01 -3.71304392e-03 1.91108193e+01] [ 1.00857974e-01 9.94900591e-01 -6.94848186e-04 2.09303414e+00] [ 3.76419188e-03 3.16810006e-04 9.99992865e-01 6.87889629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490888479 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:19.14, Y:2.09, Z:0.07 [[ 9.95182836e-01 -9.79663761e-02 -3.70304313e-03 1.91416599e+01] [ 9.79642629e-02 9.95189652e-01 -7.48229881e-04 2.09272017e+00] [ 3.75853157e-03 3.81859644e-04 9.99992864e-01 7.28073897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520888478999996 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:19.17, Y:2.10, Z:0.07 [[ 9.95154324e-01 -9.82554850e-02 -3.70550305e-03 1.91699964e+01] [ 9.82534222e-02 9.95161155e-01 -7.35100323e-04 2.09624606e+00] [ 3.75980033e-03 3.67459909e-04 9.99992864e-01 7.36072750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550888478999997 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:19.20, Y:2.10, Z:0.08 [[ 9.95283059e-01 -9.69427138e-02 -3.70718925e-03 1.91957351e+01] [ 9.69406753e-02 9.95289897e-01 -7.26083988e-04 2.10104173e+00] [ 3.76011656e-03 3.63281663e-04 9.99992865e-01 7.50487408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580888479 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:19.22, Y:2.11, Z:0.07 [[ 9.95195301e-01 -9.78396203e-02 -3.70429930e-03 1.92238299e+01] [ 9.78375310e-02 9.95202124e-01 -7.41513411e-04 2.11090660e+00] [ 3.75907592e-03 3.75531165e-04 9.99992864e-01 7.09419267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610888478999996 meters Centerline goodness : 0.996262 Centerline is valid? [True, True] Translation: X:19.25, Y:2.12, Z:0.07 [[ 9.95261182e-01 -9.71670558e-02 -3.70715058e-03 1.92490576e+01] [ 9.71650182e-02 9.95268020e-01 -7.26278901e-04 2.11727785e+00] [ 3.76017880e-03 3.62631844e-04 9.99992865e-01 6.83033968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640888478999997 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:19.28, Y:2.12, Z:0.07 [[ 9.95172133e-01 -9.80750583e-02 -3.70246406e-03 1.92766548e+01] [ 9.80729346e-02 9.95178946e-01 -7.51282823e-04 2.12141921e+00] [ 3.75829639e-03 3.84544214e-04 9.99992864e-01 6.66651351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670888479 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:19.30, Y:2.13, Z:0.07 [[ 9.95184904e-01 -9.79454058e-02 -3.70188122e-03 1.93036484e+01] [ 9.79432698e-02 9.95191714e-01 -7.54392705e-04 2.12643660e+00] [ 3.75797081e-03 3.88185881e-04 9.99992863e-01 6.67679609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700888478999996 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:19.33, Y:2.13, Z:0.07 [[ 9.94805356e-01 -1.01728068e-01 -3.70186268e-03 1.93331072e+01] [ 1.01725957e-01 9.94812173e-01 -7.54491678e-04 2.12757939e+00] [ 3.75941104e-03 3.73996838e-04 9.99992863e-01 6.72982713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730888478999997 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:19.36, Y:2.13, Z:0.07 [[ 9.94743431e-01 -1.02331789e-01 -3.70280343e-03 1.93620105e+01] [ 1.02329701e-01 9.94750255e-01 -7.49466091e-04 2.13075250e+00] [ 3.76005887e-03 3.66619702e-04 9.99992864e-01 6.88101022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.760888479 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:19.39, Y:2.14, Z:0.07 [[ 9.94600775e-01 -1.03709104e-01 -3.70397126e-03 1.93894616e+01] [ 1.03707049e-01 9.94607609e-01 -7.43226717e-04 2.13545838e+00] [ 3.76107737e-03 3.55085941e-04 9.99992864e-01 7.09672073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790888478999996 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:19.42, Y:2.14, Z:0.07 [[ 9.94046777e-01 -1.08891237e-01 -3.70195988e-03 1.94170504e+01] [ 1.08889178e-01 9.94053609e-01 -7.53966039e-04 2.13872289e+00] [ 3.76204687e-03 3.46374143e-04 9.99992863e-01 6.90256816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820888478999997 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:19.45, Y:2.14, Z:0.07 [[ 9.94259015e-01 -1.06936041e-01 -3.70046525e-03 1.94511815e+01] [ 1.06933939e-01 9.94265836e-01 -7.61903589e-04 2.13986055e+00] [ 3.76072113e-03 3.61824186e-04 9.99992863e-01 7.15899748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850888478999998 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:19.47, Y:2.15, Z:0.07 [[ 9.93963590e-01 -1.09647610e-01 -3.71260495e-03 1.94736907e+01] [ 1.09645766e-01 9.93970482e-01 -6.97265559e-04 2.14720422e+00] [ 3.76667324e-03 2.85985165e-04 9.99992865e-01 7.32893835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880888478999996 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:19.50, Y:2.15, Z:0.07 [[ 9.93743887e-01 -1.11621574e-01 -3.70293657e-03 1.94999083e+01] [ 1.11619553e-01 9.93750731e-01 -7.48617023e-04 2.15365358e+00] [ 3.76335774e-03 3.30613466e-04 9.99992864e-01 7.10276873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910888478999997 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:19.53, Y:2.16, Z:0.07 [[ 9.94076186e-01 -1.08622497e-01 -3.69988599e-03 1.95314997e+01] [ 1.08620395e-01 9.94083007e-01 -7.64802656e-04 2.15643118e+00] [ 3.76106857e-03 3.58389028e-04 9.99992863e-01 7.01072460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940888478999998 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:19.56, Y:2.16, Z:0.07 [[ 9.94272265e-01 -1.06812529e-01 -3.70769022e-03 1.95603572e+01] [ 1.06810568e-01 9.94279125e-01 -7.23366576e-04 2.16079370e+00] [ 3.76374360e-03 3.23202824e-04 9.99992865e-01 7.25872170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970888479 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:19.59, Y:2.17, Z:0.07 [[ 9.94266418e-01 -1.06866924e-01 -3.70827278e-03 1.95889140e+01] [ 1.06864975e-01 9.94273281e-01 -7.20274615e-04 2.16644598e+00] [ 3.76401008e-03 3.19860382e-04 9.99992865e-01 7.06750296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000888478999997 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:19.62, Y:2.17, Z:0.07 [[ 9.94360957e-01 -1.05983643e-01 -3.70872027e-03 1.96182082e+01] [ 1.05981697e-01 9.94367822e-01 -7.17901035e-04 2.17121985e+00] [ 3.76391786e-03 3.20796291e-04 9.99992865e-01 7.02242803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030888478999998 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:19.64, Y:2.18, Z:0.07 [[ 9.94313153e-01 -1.06431075e-01 -3.71218186e-03 1.96423726e+01] [ 1.06429200e-01 9.94320037e-01 -6.99531531e-04 2.17779495e+00] [ 3.76554870e-03 3.00468856e-04 9.99992865e-01 7.19555861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060888479 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:19.67, Y:2.18, Z:0.07 [[ 9.94284482e-01 -1.06698853e-01 -3.70449846e-03 1.96680673e+01] [ 1.06696829e-01 9.94291325e-01 -7.40210765e-04 2.18454122e+00] [ 3.76233032e-03 3.40721838e-04 9.99992864e-01 7.19006600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090888478999997 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:19.70, Y:2.19, Z:0.07 [[ 9.94595692e-01 -1.03757878e-01 -3.70293773e-03 1.96996567e+01] [ 1.03755804e-01 9.94602520e-01 -7.48465140e-04 2.18927214e+00] [ 3.76061036e-03 3.60218922e-04 9.99992864e-01 7.06297848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.120888478999998 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:19.73, Y:2.19, Z:0.07 [[ 9.94655208e-01 -1.03185588e-01 -3.70822208e-03 1.97285112e+01] [ 1.03183613e-01 9.94662065e-01 -7.20497233e-04 2.19353990e+00] [ 3.76277276e-03 3.34018571e-04 9.99992865e-01 7.06842192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150888479 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:19.76, Y:2.20, Z:0.07 [[ 9.94625636e-01 -1.03470249e-01 -3.70838248e-03 1.97553552e+01] [ 1.03468279e-01 9.94632494e-01 -7.19648619e-04 2.19714232e+00] [ 3.76293993e-03 3.32081013e-04 9.99992865e-01 6.93141405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180888478999996 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:19.78, Y:2.20, Z:0.07 [[ 9.94566488e-01 -1.04037278e-01 -3.70763406e-03 1.97814242e+01] [ 1.04035298e-01 9.94573342e-01 -7.23606636e-04 2.20114115e+00] [ 3.76279607e-03 3.33950096e-04 9.99992865e-01 6.98713357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210888478999998 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:19.81, Y:2.21, Z:0.07 [[ 9.94771364e-01 -1.02059828e-01 -3.70476964e-03 1.98126685e+01] [ 1.02057778e-01 9.94778199e-01 -7.38791984e-04 2.20662361e+00] [ 3.76082505e-03 3.56828554e-04 9.99992864e-01 6.90835826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240888479 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:19.84, Y:2.21, Z:0.07 [[ 9.94755722e-01 -1.02211933e-01 -3.71145501e-03 1.98408150e+01] [ 1.02210015e-01 9.94762594e-01 -7.03311370e-04 2.21141612e+00] [ 3.76390342e-03 3.20275139e-04 9.99992865e-01 7.12014961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270888478999996 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:19.87, Y:2.22, Z:0.07 [[ 9.94501988e-01 -1.04651883e-01 -3.71213600e-03 1.98669481e+01] [ 1.04649996e-01 9.94508868e-01 -6.99698438e-04 2.21729966e+00] [ 3.76497694e-03 3.07376471e-04 9.99992865e-01 6.82131783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300888478999997 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:19.90, Y:2.22, Z:0.07 [[ 9.94139341e-01 -1.08042543e-01 -3.71205096e-03 1.98954900e+01] [ 1.08040677e-01 9.94146228e-01 -7.00149305e-04 2.21831247e+00] [ 3.76596737e-03 2.94993469e-04 9.99992865e-01 7.04693912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330888479 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:19.93, Y:2.22, Z:0.07 [[ 9.94171132e-01 -1.07749624e-01 -3.71186009e-03 1.99253178e+01] [ 1.07747753e-01 9.94178017e-01 -7.01159774e-04 2.21969314e+00] [ 3.76579941e-03 2.97128223e-04 9.99992865e-01 7.14584136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360888478999996 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:19.95, Y:2.22, Z:0.07 [[ 9.94087983e-01 -1.08514029e-01 -3.71307867e-03 1.99542164e+01] [ 1.08512186e-01 9.94094876e-01 -6.94711876e-04 2.22227442e+00] [ 3.76653847e-03 2.87690442e-04 9.99992865e-01 7.29392135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390888478999997 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:19.98, Y:2.23, Z:0.07 [[ 9.93890469e-01 -1.10308400e-01 -3.71380481e-03 1.99802399e+01] [ 1.10306584e-01 9.93897369e-01 -6.90873940e-04 2.22701031e+00] [ 3.76735003e-03 2.76995902e-04 9.99992865e-01 7.25782384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420888479 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:20.01, Y:2.23, Z:0.07 [[ 9.93770156e-01 -1.11387177e-01 -3.71142093e-03 2.00074974e+01] [ 1.11385322e-01 9.93777045e-01 -7.03460996e-04 2.23455411e+00] [ 3.76668146e-03 2.85680728e-04 9.99992865e-01 7.39458840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450888478999996 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:20.03, Y:2.24, Z:0.07 [[ 9.93801153e-01 -1.11110356e-01 -3.70913535e-03 2.00346848e+01] [ 1.11108454e-01 9.93808029e-01 -7.15517593e-04 2.24088345e+00] [ 3.76566991e-03 2.98965914e-04 9.99992865e-01 7.37091047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480888478999997 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:20.06, Y:2.25, Z:0.07 [[ 9.93919112e-01 -1.10050182e-01 -3.70882569e-03 2.00645197e+01] [ 1.10048267e-01 9.93925985e-01 -7.17149333e-04 2.24602208e+00] [ 3.76522064e-03 3.04638588e-04 9.99992865e-01 7.21847161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510888479 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:20.09, Y:2.25, Z:0.07 [[ 9.93840636e-01 -1.10756525e-01 -3.71254332e-03 2.00914674e+01] [ 1.10754687e-01 9.93847530e-01 -6.97556021e-04 2.24972981e+00] [ 3.76696089e-03 2.82077944e-04 9.99992865e-01 7.36190137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540888478999996 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:20.12, Y:2.25, Z:0.07 [[ 9.93932562e-01 -1.09928645e-01 -3.70878120e-03 2.01192673e+01] [ 1.09926729e-01 9.93939435e-01 -7.17342490e-04 2.25251861e+00] [ 3.76516037e-03 3.05295875e-04 9.99992865e-01 7.42571981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570888478999997 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:20.14, Y:2.26, Z:0.07 [[ 9.93531291e-01 -1.13498086e-01 -3.70913575e-03 2.01440071e+01] [ 1.13496201e-01 9.93538173e-01 -7.15478622e-04 2.25915581e+00] [ 3.76637341e-03 2.89877584e-04 9.99992865e-01 7.35009285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.600888478999998 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:20.17, Y:2.26, Z:0.07 [[ 9.93552305e-01 -1.13314170e-01 -3.70366698e-03 2.01734716e+01] [ 1.13312177e-01 9.93559156e-01 -7.44296344e-04 2.26169805e+00] [ 3.76415156e-03 3.19826780e-04 9.99992864e-01 7.21497531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630888478999996 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:20.20, Y:2.27, Z:0.07 [[ 9.93473917e-01 -1.13999285e-01 -3.70664236e-03 2.02014132e+01] [ 1.13997355e-01 9.93480786e-01 -7.28621334e-04 2.26579964e+00] [ 3.76554027e-03 3.01318867e-04 9.99992865e-01 7.00581533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660888478999997 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:20.23, Y:2.27, Z:0.07 [[ 9.93487113e-01 -1.13884185e-01 -3.70785913e-03 2.02306530e+01] [ 1.13882278e-01 9.93493989e-01 -7.22209082e-04 2.26861601e+00] [ 3.76598395e-03 2.95245973e-04 9.99992865e-01 7.19469230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690888478999998 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:20.26, Y:2.27, Z:0.07 [[ 9.93372704e-01 -1.14877812e-01 -3.70947367e-03 2.02594330e+01] [ 1.14875943e-01 9.93379589e-01 -7.13700972e-04 2.27296475e+00] [ 3.76690384e-03 2.82841776e-04 9.99992865e-01 7.33193707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720888479 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:20.29, Y:2.28, Z:0.07 [[ 9.93360603e-01 -1.14982421e-01 -3.70885532e-03 2.02879464e+01] [ 1.14980541e-01 9.93367485e-01 -7.16956357e-04 2.27601266e+00] [ 3.76669367e-03 2.85750007e-04 9.99992865e-01 7.24719757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750888478999997 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:20.32, Y:2.28, Z:0.07 [[ 9.93502149e-01 -1.13752837e-01 -3.71116183e-03 2.03169365e+01] [ 1.13750993e-01 9.93509041e-01 -7.04811553e-04 2.27909996e+00] [ 3.76724714e-03 2.78083449e-04 9.99992865e-01 7.44824999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780888478999998 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:20.35, Y:2.28, Z:0.07 [[ 9.93545315e-01 -1.13375209e-01 -3.71069148e-03 2.03456785e+01] [ 1.13373353e-01 9.93552204e-01 -7.07285546e-04 2.28326533e+00] [ 3.76695435e-03 2.82026705e-04 9.99992865e-01 7.32724730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810888479 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:20.37, Y:2.29, Z:0.07 [[ 9.93751746e-01 -1.11551336e-01 -3.71041025e-03 2.03742499e+01] [ 1.11549463e-01 9.93758630e-01 -7.08762944e-04 2.28619629e+00] [ 3.76631566e-03 2.90440143e-04 9.99992865e-01 7.20971527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840888478999997 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:20.40, Y:2.29, Z:0.07 [[ 9.93834499e-01 -1.10811557e-01 -3.71307260e-03 2.04031771e+01] [ 1.10809730e-01 9.93841396e-01 -6.94804257e-04 2.29101124e+00] [ 3.76719760e-03 2.79075867e-04 9.99992865e-01 7.38112210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870888478999998 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:20.43, Y:2.30, Z:0.08 [[ 9.93783594e-01 -1.11267128e-01 -3.71400956e-03 2.04299612e+01] [ 1.11265323e-01 9.93790497e-01 -6.89900173e-04 2.29691353e+00] [ 3.76771062e-03 2.72371002e-04 9.99992865e-01 7.51154488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900888479 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:20.46, Y:2.30, Z:0.07 [[ 9.93842747e-01 -1.10737646e-01 -3.71059405e-03 2.04590678e+01] [ 1.10735771e-01 9.93849631e-01 -7.07748245e-04 2.30164871e+00] [ 3.76614690e-03 2.92494969e-04 9.99992865e-01 7.19873130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930888478999996 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:20.49, Y:2.30, Z:0.08 [[ 9.93519958e-01 -1.13597057e-01 -3.71501338e-03 2.04878163e+01] [ 1.13595288e-01 9.93526870e-01 -6.84610079e-04 2.30391795e+00] [ 3.76873530e-03 2.58165764e-04 9.99992865e-01 7.56899487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960888478999998 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:20.52, Y:2.31, Z:0.08 [[ 9.93248964e-01 -1.15942674e-01 -3.71368709e-03 2.05170008e+01] [ 1.15940895e-01 9.93255874e-01 -6.91528917e-04 2.30761923e+00] [ 3.76881923e-03 2.56292178e-04 9.99992865e-01 7.79049331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990888479 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:20.54, Y:2.31, Z:0.08 [[ 9.92823224e-01 -1.19533482e-01 -3.71396771e-03 2.05428081e+01] [ 1.19531733e-01 9.92830141e-01 -6.90066386e-04 2.31335057e+00] [ 3.76982512e-03 2.41176936e-04 9.99992865e-01 7.58549182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.020888478999996 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:20.57, Y:2.32, Z:0.08 [[ 9.92750715e-01 -1.20134327e-01 -3.70959338e-03 2.05735513e+01] [ 1.20132498e-01 9.92757611e-01 -7.12830529e-04 2.31779836e+00] [ 3.76836248e-03 2.62020298e-04 9.99992865e-01 7.55000649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050888478999997 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:20.60, Y:2.32, Z:0.07 [[ 9.92411257e-01 -1.22906900e-01 -3.71371540e-03 2.05994442e+01] [ 1.22905170e-01 9.92418179e-01 -6.91378940e-04 2.32377952e+00] [ 3.77053391e-03 2.29697421e-04 9.99992865e-01 7.40304606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080888479 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:20.63, Y:2.33, Z:0.07 [[ 9.92393192e-01 -1.23052779e-01 -3.71030840e-03 2.06267015e+01] [ 1.23050984e-01 9.92400097e-01 -7.09078112e-04 2.32790299e+00] [ 3.76936445e-03 2.47127191e-04 9.99992865e-01 7.08398223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110888478999996 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:20.65, Y:2.33, Z:0.07 [[ 9.92170584e-01 -1.24834929e-01 -3.71126064e-03 2.06545824e+01] [ 1.24833165e-01 9.92177497e-01 -7.04133559e-04 2.33369121e+00] [ 3.77012975e-03 2.35332194e-04 9.99992865e-01 7.31056860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140888478999997 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:20.68, Y:2.34, Z:0.08 [[ 9.91980493e-01 -1.26336614e-01 -3.70971228e-03 2.06816859e+01] [ 1.26334830e-01 9.91987401e-01 -7.12161984e-04 2.33780811e+00] [ 3.76995997e-03 2.37784924e-04 9.99992865e-01 7.67582351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170888479 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:20.71, Y:2.34, Z:0.08 [[ 9.91833343e-01 -1.27486720e-01 -3.70901789e-03 2.07091799e+01] [ 1.27484931e-01 9.91840249e-01 -7.15760263e-04 2.34376800e+00] [ 3.77000315e-03 2.37071004e-04 9.99992865e-01 7.81069312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200888478999996 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:20.74, Y:2.35, Z:0.08 [[ 9.91664661e-01 -1.28792254e-01 -3.70893029e-03 2.07372706e+01] [ 1.28790473e-01 9.91671569e-01 -7.16213892e-04 2.34981115e+00] [ 3.77028352e-03 2.32569121e-04 9.99992865e-01 8.01590420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230888478999997 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:20.76, Y:2.35, Z:0.08 [[ 9.91518110e-01 -1.29915671e-01 -3.70882942e-03 2.07648459e+01] [ 1.29913896e-01 9.91525020e-01 -7.16735491e-04 2.35351115e+00] [ 3.77051234e-03 2.28827742e-04 9.99992865e-01 7.91801170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260888479 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:20.79, Y:2.36, Z:0.08 [[ 9.91409692e-01 -1.30740463e-01 -3.70863698e-03 2.07929717e+01] [ 1.30738689e-01 9.91416603e-01 -7.17729890e-04 2.35830815e+00] [ 3.77064061e-03 2.26702031e-04 9.99992865e-01 8.02686578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290888478999996 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:20.82, Y:2.36, Z:0.08 [[ 9.91166949e-01 -1.32568180e-01 -3.70914000e-03 2.08197550e+01] [ 1.32566429e-01 9.91173865e-01 -7.15132879e-04 2.36394414e+00] [ 3.77120649e-03 2.17108628e-04 9.99992865e-01 8.00704658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320888478999997 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:20.85, Y:2.37, Z:0.08 [[ 9.90971046e-01 -1.34024755e-01 -3.70837234e-03 2.08462912e+01] [ 1.34022999e-01 9.90977961e-01 -7.19091681e-04 2.36927931e+00] [ 3.77129135e-03 2.15591852e-04 9.99992865e-01 8.20873171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350888478999998 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:20.88, Y:2.37, Z:0.08 [[ 9.90828660e-01 -1.35073477e-01 -3.70425649e-03 2.08754361e+01] [ 1.35071650e-01 9.90835557e-01 -7.40273368e-04 2.37378434e+00] [ 3.77030035e-03 2.33144033e-04 9.99992865e-01 7.72801845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380888478999996 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:20.90, Y:2.38, Z:0.08 [[ 9.90951430e-01 -1.34169786e-01 -3.70574495e-03 2.09049348e+01] [ 1.34167981e-01 9.90958332e-01 -7.32625033e-04 2.37872264e+00] [ 3.77053498e-03 2.28803507e-04 9.99992865e-01 7.63846039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410888478999997 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:20.93, Y:2.39, Z:0.08 [[ 9.90808862e-01 -1.35218533e-01 -3.70780085e-03 2.09299971e+01] [ 1.35216774e-01 9.90815776e-01 -7.22068083e-04 2.38643709e+00] [ 3.77138456e-03 2.14074585e-04 9.99992865e-01 7.89374370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440888478999998 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:20.96, Y:2.39, Z:0.08 [[ 9.91270631e-01 -1.31790894e-01 -3.70090472e-03 2.09605681e+01] [ 1.31788980e-01 9.91277505e-01 -7.57428837e-04 2.39263002e+00] [ 3.76844582e-03 2.63078502e-04 9.99992865e-01 7.90209382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470888479 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:20.99, Y:2.40, Z:0.08 [[ 9.91439418e-01 -1.30514959e-01 -3.70471575e-03 2.09890149e+01] [ 1.30513109e-01 9.91446309e-01 -7.37877016e-04 2.39847035e+00] [ 3.76933074e-03 2.48046389e-04 9.99992865e-01 7.74871006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500888478999997 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:21.01, Y:2.41, Z:0.08 [[ 9.91526914e-01 -1.29848495e-01 -3.70764038e-03 2.10132255e+01] [ 1.29846696e-01 9.91533818e-01 -7.22876530e-04 2.40555032e+00] [ 3.77011526e-03 2.35326681e-04 9.99992865e-01 7.81197584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530888478999998 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:21.04, Y:2.41, Z:0.08 [[ 9.91721438e-01 -1.28354495e-01 -3.70304624e-03 2.10441013e+01] [ 1.28352598e-01 9.91728316e-01 -7.46411847e-04 2.41077930e+00] [ 3.76822113e-03 2.64937026e-04 9.99992865e-01 7.74155347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560888479 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:21.07, Y:2.42, Z:0.08 [[ 9.91685577e-01 -1.28631145e-01 -3.70745717e-03 2.10721306e+01] [ 1.28629334e-01 9.91692478e-01 -7.23818748e-04 2.41632427e+00] [ 3.76976302e-03 2.40912866e-04 9.99992865e-01 7.75310126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590888478999997 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:21.10, Y:2.42, Z:0.08 [[ 9.91645656e-01 -1.28938551e-01 -3.70725490e-03 2.10989560e+01] [ 1.28936739e-01 9.91652556e-01 -7.24853268e-04 2.42103015e+00] [ 3.76977032e-03 2.40796238e-04 9.99992865e-01 7.97542572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.620888478999998 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:21.13, Y:2.43, Z:0.08 [[ 9.91744370e-01 -1.28177182e-01 -3.70327299e-03 2.11273859e+01] [ 1.28175289e-01 9.91751249e-01 -7.45205758e-04 2.42523941e+00] [ 3.76824399e-03 2.64385530e-04 9.99992865e-01 7.99514408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650888479 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:21.15, Y:2.43, Z:0.08 [[ 9.91805060e-01 -1.27706719e-01 -3.70358639e-03 2.11547223e+01] [ 1.27704828e-01 9.91811940e-01 -7.43604183e-04 2.43277869e+00] [ 3.76822445e-03 2.64544530e-04 9.99992865e-01 7.97861895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680888478999996 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:21.18, Y:2.44, Z:0.08 [[ 9.91975836e-01 -1.26373395e-01 -3.70206096e-03 2.11840978e+01] [ 1.26371465e-01 9.91982706e-01 -7.51388301e-04 2.43962319e+00] [ 3.76733593e-03 2.77524170e-04 9.99992865e-01 7.74698902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710888478999998 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:21.21, Y:2.45, Z:0.08 [[ 9.91951107e-01 -1.26567214e-01 -3.70703384e-03 2.12095380e+01] [ 1.26565380e-01 9.91958002e-01 -7.25996090e-04 2.44683328e+00] [ 3.76910918e-03 2.50970477e-04 9.99992865e-01 7.92679968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740888479 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:21.24, Y:2.45, Z:0.08 [[ 9.92195574e-01 -1.24636386e-01 -3.70324561e-03 2.12407686e+01] [ 1.24634467e-01 9.92202446e-01 -7.45328700e-04 2.45015924e+00] [ 3.76726443e-03 2.77959794e-04 9.99992865e-01 7.97712818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770888478999996 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:21.27, Y:2.45, Z:0.08 [[ 9.92151824e-01 -1.24984014e-01 -3.70875034e-03 2.12684661e+01] [ 1.24982203e-01 9.92158724e-01 -7.17229260e-04 2.45329318e+00] [ 3.76931120e-03 2.48072532e-04 9.99992865e-01 8.10866923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800888478999997 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:21.30, Y:2.46, Z:0.08 [[ 9.92207096e-01 -1.24544480e-01 -3.70813389e-03 2.12961455e+01] [ 1.24542653e-01 9.92213993e-01 -7.20371531e-04 2.45701001e+00] [ 3.76898063e-03 2.52936912e-04 9.99992865e-01 8.17482394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830888479 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:21.32, Y:2.46, Z:0.08 [[ 9.92138118e-01 -1.25092780e-01 -3.70813848e-03 2.13236135e+01] [ 1.25090958e-01 9.92145016e-01 -7.20348140e-04 2.46296449e+00] [ 3.76912147e-03 2.50830255e-04 9.99992865e-01 8.30564602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860888478999996 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:21.35, Y:2.47, Z:0.08 [[ 9.91988369e-01 -1.26274845e-01 -3.70677900e-03 2.13482113e+01] [ 1.26273005e-01 9.91995262e-01 -7.27258580e-04 2.47220910e+00] [ 3.76894167e-03 2.53365931e-04 9.99992865e-01 7.97361357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890888478999997 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:21.38, Y:2.48, Z:0.08 [[ 9.92034554e-01 -1.25911583e-01 -3.70362110e-03 2.13760655e+01] [ 1.25909681e-01 9.92041430e-01 -7.43280342e-04 2.47840276e+00] [ 3.76773318e-03 2.71038032e-04 9.99992865e-01 7.54903556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920888479 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:21.40, Y:2.48, Z:0.07 [[ 9.91974862e-01 -1.26380931e-01 -3.70583978e-03 2.14033280e+01] [ 1.26379074e-01 9.91981751e-01 -7.32021359e-04 2.48404205e+00] [ 3.76863897e-03 2.57806186e-04 9.99992865e-01 7.41957625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950888478999996 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:21.43, Y:2.49, Z:0.07 [[ 9.92138983e-01 -1.25086047e-01 -3.70399470e-03 2.14329427e+01] [ 1.25084146e-01 9.92145860e-01 -7.41372598e-04 2.48526244e+00] [ 3.76763837e-03 2.72233641e-04 9.99992865e-01 7.48811923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980888478999997 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:21.46, Y:2.49, Z:0.08 [[ 9.91999828e-01 -1.26184815e-01 -3.70591098e-03 2.14595703e+01] [ 1.26182958e-01 9.92006717e-01 -7.31666585e-04 2.49057882e+00] [ 3.76861379e-03 2.58190319e-04 9.99992865e-01 8.04729570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010888479 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:21.49, Y:2.50, Z:0.08 [[ 9.91958923e-01 -1.26506134e-01 -3.70055133e-03 2.14869187e+01] [ 1.26504178e-01 9.91965784e-01 -7.58757028e-04 2.49629422e+00] [ 3.76680772e-03 2.84520599e-04 9.99992865e-01 7.95052355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040888478999996 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:21.51, Y:2.50, Z:0.08 [[ 9.91950877e-01 -1.26569192e-01 -3.70099472e-03 2.15112749e+01] [ 1.26567246e-01 9.91957741e-01 -7.56520667e-04 2.50323927e+00] [ 3.76698257e-03 2.82006632e-04 9.99992865e-01 7.96340070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070888478999997 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:21.54, Y:2.51, Z:0.08 [[ 9.91515789e-01 -1.29933707e-01 -3.69755440e-03 2.15379295e+01] [ 1.29931719e-01 9.91522642e-01 -7.73938291e-04 2.50968302e+00] [ 3.76676958e-03 2.86942435e-04 9.99992865e-01 7.63518619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100888478999998 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:21.57, Y:2.51, Z:0.08 [[ 9.91395133e-01 -1.30851134e-01 -3.69731266e-03 2.15666105e+01] [ 1.30849147e-01 9.91401987e-01 -7.75163202e-04 2.51442361e+00] [ 3.76695410e-03 2.84702818e-04 9.99992864e-01 7.54617630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130888478999996 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:21.59, Y:2.52, Z:0.07 [[ 9.91200330e-01 -1.32318664e-01 -3.69828057e-03 2.15929301e+01] [ 1.32316706e-01 9.91207191e-01 -7.70262433e-04 2.52003934e+00] [ 3.76768239e-03 2.74140074e-04 9.99992865e-01 7.38054955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160888478999997 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:21.62, Y:2.52, Z:0.08 [[ 9.91180174e-01 -1.32469585e-01 -3.69747123e-03 2.16203434e+01] [ 1.32467612e-01 9.91187032e-01 -7.74349826e-04 2.52402040e+00] [ 3.76746333e-03 2.77725010e-04 9.99992865e-01 7.77683263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190888478999998 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:21.65, Y:2.53, Z:0.08 [[ 9.91146275e-01 -1.32722939e-01 -3.69913718e-03 2.16494290e+01] [ 1.32720999e-01 9.91153141e-01 -7.65937191e-04 2.52771421e+00] [ 3.76806887e-03 2.68202609e-04 9.99992865e-01 7.83999075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220888479 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:21.68, Y:2.53, Z:0.08 [[ 9.90987111e-01 -1.33906131e-01 -3.70049389e-03 2.16769878e+01] [ 1.33904225e-01 9.90993987e-01 -7.59085215e-04 2.53213580e+00] [ 3.76881336e-03 2.56731896e-04 9.99992865e-01 7.69459529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250888478999997 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:21.70, Y:2.54, Z:0.08 [[ 9.90894814e-01 -1.34587466e-01 -3.69873696e-03 2.17030992e+01] [ 1.34585533e-01 9.90901683e-01 -7.67948482e-04 2.53711124e+00] [ 3.76844092e-03 2.63159685e-04 9.99992865e-01 7.63754129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280888478999998 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:21.73, Y:2.54, Z:0.08 [[ 9.91232601e-01 -1.32076712e-01 -3.69768412e-03 2.17302865e+01] [ 1.32074741e-01 9.91239459e-01 -7.73263702e-04 2.54166157e+00] [ 3.76742053e-03 2.78113519e-04 9.99992865e-01 7.77221058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310888479 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:21.76, Y:2.55, Z:0.08 [[ 9.91395803e-01 -1.30846070e-01 -3.69696455e-03 2.17587699e+01] [ 1.30844077e-01 9.91402655e-01 -7.76897398e-04 2.54838626e+00] [ 3.76683444e-03 2.86486906e-04 9.99992864e-01 7.75635560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340888478999997 meters Centerline goodness : 0.997459 Centerline is valid? [True, True] Translation: X:21.79, Y:2.55, Z:0.08 [[ 9.91889173e-01 -1.27051962e-01 -3.69706222e-03 2.17910987e+01] [ 1.27049945e-01 9.91896017e-01 -7.76404311e-04 2.55257418e+00] [ 3.76574498e-03 3.00395480e-04 9.99992864e-01 7.75642068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370888478999998 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:21.82, Y:2.56, Z:0.07 [[ 9.91623212e-01 -1.29111094e-01 -3.70558178e-03 2.18155639e+01] [ 1.29109251e-01 9.91630104e-01 -7.33355728e-04 2.56115184e+00] [ 3.76925081e-03 2.48787673e-04 9.99992865e-01 7.41929568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.400888479 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:21.84, Y:2.56, Z:0.07 [[ 9.91787907e-01 -1.27840011e-01 -3.69859084e-03 2.18440661e+01] [ 1.27838028e-01 9.91794761e-01 -7.68619901e-04 2.56407027e+00] [ 3.76650340e-03 2.89487363e-04 9.99992865e-01 7.22803598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430888478999996 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:21.87, Y:2.57, Z:0.08 [[ 9.91918883e-01 -1.26819724e-01 -3.69966735e-03 2.18716793e+01] [ 1.26817754e-01 9.91925741e-01 -7.63185368e-04 2.56715322e+00] [ 3.76658223e-03 2.87834473e-04 9.99992865e-01 7.53428204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460888478999998 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:21.90, Y:2.57, Z:0.08 [[ 9.91893978e-01 -1.27014371e-01 -3.69948771e-03 2.19004532e+01] [ 1.27012399e-01 9.91900835e-01 -7.64092911e-04 2.57084547e+00] [ 3.76657573e-03 2.88018347e-04 9.99992865e-01 7.67459778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490888479 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:21.93, Y:2.57, Z:0.08 [[ 9.92198407e-01 -1.24613893e-01 -3.70120251e-03 2.19308897e+01] [ 1.24611937e-01 9.92205268e-01 -7.55433466e-04 2.57197313e+00] [ 3.76649014e-03 2.88325867e-04 9.99992865e-01 8.44795712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520888478999996 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:21.96, Y:2.58, Z:0.08 [[ 9.92019698e-01 -1.26028521e-01 -3.70557201e-03 2.19584832e+01] [ 1.26026656e-01 9.92026584e-01 -7.33354842e-04 2.57632684e+00] [ 3.76844957e-03 2.60501598e-04 9.99992865e-01 8.38907265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550888478999997 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:21.99, Y:2.58, Z:0.08 [[ 9.91791729e-01 -1.27810167e-01 -3.70502082e-03 2.19872760e+01] [ 1.27808304e-01 9.91798616e-01 -7.36136901e-04 2.58170711e+00] [ 3.76872030e-03 2.56562062e-04 9.99992865e-01 8.43382286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580888479 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:22.01, Y:2.59, Z:0.08 [[ 9.91629368e-01 -1.29063809e-01 -3.70533893e-03 2.20145960e+01] [ 1.29061961e-01 9.91636259e-01 -7.34532187e-04 2.59121141e+00] [ 3.76914996e-03 2.50165378e-04 9.99992865e-01 8.15711998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610888478999996 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:22.04, Y:2.60, Z:0.08 [[ 9.91329194e-01 -1.31349539e-01 -3.70515792e-03 2.20400866e+01] [ 1.31347703e-01 9.91336088e-01 -7.35444110e-04 2.60048469e+00] [ 3.76965701e-03 2.42403233e-04 9.99992865e-01 7.74473889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.640888478999997 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:22.07, Y:2.60, Z:0.08 [[ 9.91768074e-01 -1.27993714e-01 -3.70097238e-03 2.20688495e+01] [ 1.27991778e-01 9.91774941e-01 -7.56425242e-04 2.60189163e+00] [ 3.76734934e-03 2.76504371e-04 9.99992865e-01 7.96246390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670888479 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:22.10, Y:2.61, Z:0.08 [[ 9.91577290e-01 -1.29463447e-01 -3.70059421e-03 2.20986445e+01] [ 1.29461514e-01 9.91584157e-01 -7.58316624e-04 2.60502861e+00] [ 3.76762488e-03 2.72845013e-04 9.99992865e-01 8.12392279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700888478999996 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:22.13, Y:2.61, Z:0.08 [[ 9.91520955e-01 -1.29894094e-01 -3.70408278e-03 2.21271939e+01] [ 1.29892229e-01 9.91527841e-01 -7.40875176e-04 2.60798057e+00] [ 3.76893651e-03 2.53461695e-04 9.99992865e-01 8.05294408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730888478999997 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:22.15, Y:2.61, Z:0.08 [[ 9.91532301e-01 -1.29807464e-01 -3.70390009e-03 2.21548629e+01] [ 1.29805594e-01 9.91539186e-01 -7.41787406e-04 2.61214121e+00] [ 3.76885162e-03 2.54719222e-04 9.99992865e-01 8.10233553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760888479 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:22.18, Y:2.62, Z:0.08 [[ 9.91643371e-01 -1.28956219e-01 -3.70380275e-03 2.21780893e+01] [ 1.28954342e-01 9.91650254e-01 -7.42273078e-04 2.62091582e+00] [ 3.76859767e-03 2.58448733e-04 9.99992865e-01 8.04430767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790888478999996 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:22.21, Y:2.63, Z:0.08 [[ 9.91668333e-01 -1.28764301e-01 -3.69747517e-03 2.22093113e+01] [ 1.28762305e-01 9.91675184e-01 -7.73895930e-04 2.62838696e+00] [ 3.76634453e-03 2.91352660e-04 9.99992865e-01 8.27880467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820888478999997 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:22.24, Y:2.64, Z:0.08 [[ 9.91709842e-01 -1.28444008e-01 -3.70483756e-03 2.22375391e+01] [ 1.28442147e-01 9.91716730e-01 -7.37092748e-04 2.63521704e+00] [ 3.76882453e-03 2.55124844e-04 9.99992865e-01 8.22288115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850888478999998 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:22.26, Y:2.64, Z:0.08 [[ 9.91742873e-01 -1.28188713e-01 -3.70497684e-03 2.22638409e+01] [ 1.28186852e-01 9.91749761e-01 -7.36396876e-04 2.63960623e+00] [ 3.76880767e-03 2.55387035e-04 9.99992865e-01 8.11247224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880888478999996 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:22.29, Y:2.64, Z:0.08 [[ 9.91729864e-01 -1.28289352e-01 -3.70383528e-03 2.22919274e+01] [ 1.28287470e-01 9.91736746e-01 -7.42094493e-04 2.64282822e+00] [ 3.76843237e-03 2.60801612e-04 9.99992865e-01 8.24402881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910888478999997 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:22.32, Y:2.65, Z:0.08 [[ 9.91653156e-01 -1.28880956e-01 -3.70363554e-03 2.23205271e+01] [ 1.28879075e-01 9.91660038e-01 -7.43090021e-04 2.64594168e+00] [ 3.76851751e-03 2.59566441e-04 9.99992865e-01 8.27225110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940888478999998 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:22.35, Y:2.65, Z:0.08 [[ 9.91451671e-01 -1.30421890e-01 -3.70345176e-03 2.23506498e+01] [ 1.30420017e-01 9.91458555e-01 -7.44004803e-04 2.64828739e+00] [ 3.76885345e-03 2.54640564e-04 9.99992865e-01 8.06463353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970888479 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:22.38, Y:2.65, Z:0.08 [[ 9.91360493e-01 -1.31113064e-01 -3.70628680e-03 2.23788385e+01] [ 1.31111247e-01 9.91367393e-01 -7.29912650e-04 2.65491788e+00] [ 3.76999297e-03 2.37670678e-04 9.99992865e-01 8.11272894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000888478999997 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:22.41, Y:2.66, Z:0.08 [[ 9.91264560e-01 -1.31836369e-01 -3.70739500e-03 2.24050718e+01] [ 1.31834578e-01 9.91271466e-01 -7.24411190e-04 2.66232480e+00] [ 3.77053862e-03 2.29320284e-04 9.99992865e-01 7.91009238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030888478999998 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:22.43, Y:2.67, Z:0.08 [[ 9.91108073e-01 -1.33007690e-01 -3.70691103e-03 2.24319289e+01] [ 1.33005898e-01 9.91114980e-01 -7.26811045e-04 2.66923716e+00] [ 3.77064651e-03 2.27307264e-04 9.99992865e-01 7.87104252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060888479 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:22.46, Y:2.67, Z:0.08 [[ 9.90688361e-01 -1.36098618e-01 -3.70642375e-03 2.24584553e+01] [ 1.36096839e-01 9.90695270e-01 -7.29222884e-04 2.67276142e+00] [ 3.77118270e-03 2.18000066e-04 9.99992865e-01 8.09671177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090888478999997 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:22.49, Y:2.67, Z:0.08 [[ 9.90595715e-01 -1.36771396e-01 -3.70336896e-03 2.24852697e+01] [ 1.36769566e-01 9.90602611e-01 -7.44313639e-04 2.67449797e+00] [ 3.77036778e-03 2.30805737e-04 9.99992866e-01 8.23816100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120888478999998 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:22.52, Y:2.68, Z:0.08 [[ 9.90323698e-01 -1.38727309e-01 -3.70218903e-03 2.25157095e+01] [ 1.38725470e-01 9.90330592e-01 -7.50137006e-04 2.67702548e+00] [ 3.77045555e-03 2.29290539e-04 9.99992866e-01 8.31662113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150888479 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:22.54, Y:2.68, Z:0.08 [[ 9.90082555e-01 -1.40437946e-01 -3.70363269e-03 2.25420628e+01] [ 1.40436146e-01 9.90089459e-01 -7.43019216e-04 2.68062409e+00] [ 3.77127577e-03 2.15526463e-04 9.99992865e-01 8.31005386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180888478999996 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:22.57, Y:2.69, Z:0.08 [[ 9.90206172e-01 -1.39563746e-01 -3.70098126e-03 2.25690288e+01] [ 1.39561891e-01 9.90213061e-01 -7.56074865e-04 2.68659837e+00] [ 3.77028062e-03 2.32154053e-04 9.99992866e-01 8.39389540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210888478999998 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:22.60, Y:2.70, Z:0.08 [[ 9.89971249e-01 -1.41220476e-01 -3.70170109e-03 2.25971223e+01] [ 1.41218646e-01 9.89978145e-01 -7.52534056e-04 2.69510726e+00] [ 3.77087639e-03 2.22237864e-04 9.99992866e-01 7.87569461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.240888479 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:22.62, Y:2.70, Z:0.08 [[ 9.89900438e-01 -1.41715975e-01 -3.70201252e-03 2.26246781e+01] [ 1.41714154e-01 9.89907336e-01 -7.51003364e-04 2.70087980e+00] [ 3.77107852e-03 2.18790987e-04 9.99992866e-01 7.92792594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270888478999996 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:22.65, Y:2.70, Z:0.08 [[ 9.90027025e-01 -1.40828947e-01 -3.70092522e-03 2.26531795e+01] [ 1.40827100e-01 9.90033917e-01 -7.56342321e-04 2.70000400e+00] [ 3.77055638e-03 2.27608772e-04 9.99992866e-01 8.43491582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300888478999997 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:22.68, Y:2.70, Z:0.08 [[ 9.90068385e-01 -1.40537871e-01 -3.70137787e-03 2.26806794e+01] [ 1.40536030e-01 9.90075278e-01 -7.54120620e-04 2.70287062e+00] [ 3.77062523e-03 2.26454034e-04 9.99992866e-01 8.30180759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330888479 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:22.71, Y:2.71, Z:0.08 [[ 9.89997540e-01 -1.41036065e-01 -3.70112246e-03 2.27087288e+01] [ 1.41034223e-01 9.90004433e-01 -7.55372617e-04 2.70838802e+00] [ 3.77066242e-03 2.25832104e-04 9.99992866e-01 8.16109945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.360888478999996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:22.74, Y:2.72, Z:0.08 [[ 9.90630726e-01 -1.36517651e-01 -3.70083104e-03 2.27366365e+01] [ 1.36515772e-01 9.90637608e-01 -7.56799574e-04 2.71540235e+00] [ 3.76949891e-03 2.44487103e-04 9.99992866e-01 8.22303293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390888478999997 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:22.76, Y:2.72, Z:0.08 [[ 9.90784878e-01 -1.35394312e-01 -3.70226589e-03 2.27640854e+01] [ 1.35392451e-01 9.90791765e-01 -7.49777287e-04 2.72280694e+00] [ 3.76969014e-03 2.41609143e-04 9.99992866e-01 8.15685882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.420888479 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:22.79, Y:2.73, Z:0.08 [[ 9.90995392e-01 -1.33844831e-01 -3.70062363e-03 2.27925855e+01] [ 1.33842930e-01 9.91002268e-01 -7.57802156e-04 2.72784767e+00] [ 3.76875432e-03 2.55676135e-04 9.99992866e-01 8.38769411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450888478999996 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:22.82, Y:2.73, Z:0.09 [[ 9.91076715e-01 -1.33241307e-01 -3.70118778e-03 2.28204152e+01] [ 1.33239412e-01 9.91083593e-01 -7.55048020e-04 2.72933592e+00] [ 3.76879007e-03 2.55166427e-04 9.99992866e-01 8.85485009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480888478999997 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:22.85, Y:2.73, Z:0.09 [[ 9.91057549e-01 -1.33383800e-01 -3.70093537e-03 2.28473813e+01] [ 1.33381901e-01 9.91064426e-01 -7.56278345e-04 2.73495876e+00] [ 3.76874067e-03 2.55877568e-04 9.99992866e-01 8.86520946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510888479 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:22.88, Y:2.74, Z:0.09 [[ 9.90831456e-01 -1.35053065e-01 -3.70080363e-03 2.28759249e+01] [ 1.35051176e-01 9.90838335e-01 -7.56919954e-04 2.74024615e+00] [ 3.76912247e-03 2.50182218e-04 9.99992866e-01 8.60755848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.540888478999996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:22.90, Y:2.75, Z:0.09 [[ 9.90786452e-01 -1.35382795e-01 -3.70192736e-03 2.29033956e+01] [ 1.35380929e-01 9.90793338e-01 -7.51453838e-04 2.74554761e+00] [ 3.76957889e-03 2.43359918e-04 9.99992866e-01 8.80952411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570888478999997 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:22.93, Y:2.75, Z:0.09 [[ 9.90508992e-01 -1.37398071e-01 -3.70232875e-03 2.29303084e+01] [ 1.37396226e-01 9.90515883e-01 -7.49502998e-04 2.74907144e+00] [ 3.77019570e-03 2.33703462e-04 9.99992865e-01 8.54793354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600888478999998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:22.96, Y:2.75, Z:0.09 [[ 9.90442203e-01 -1.37878719e-01 -3.70162415e-03 2.29586866e+01] [ 1.37876864e-01 9.90449092e-01 -7.52925268e-04 2.75238758e+00] [ 3.77008265e-03 2.35360631e-04 9.99992866e-01 8.77057123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630888478999996 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:22.99, Y:2.76, Z:0.09 [[ 9.90272778e-01 -1.39090328e-01 -3.70222797e-03 2.29851426e+01] [ 1.39088493e-01 9.90279672e-01 -7.49998559e-04 2.75642391e+00] [ 3.77055864e-03 2.27765849e-04 9.99992865e-01 8.76075389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660888478999997 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:23.01, Y:2.76, Z:0.09 [[ 9.90406250e-01 -1.38136803e-01 -3.69903442e-03 2.30124088e+01] [ 1.38134903e-01 9.90413127e-01 -7.65446849e-04 2.76148071e+00] [ 3.76930863e-03 2.47137582e-04 9.99992866e-01 8.56845426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690888478999998 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:23.04, Y:2.77, Z:0.08 [[ 9.90365270e-01 -1.38430303e-01 -3.69909901e-03 2.30404896e+01] [ 1.38428407e-01 9.90372148e-01 -7.65134591e-04 2.76678904e+00] [ 3.76940244e-03 2.45702344e-04 9.99992866e-01 8.40176171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720888478999996 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:23.07, Y:2.77, Z:0.09 [[ 9.90362697e-01 -1.38448657e-01 -3.70114270e-03 2.30683980e+01] [ 1.38446797e-01 9.90369584e-01 -7.55273343e-04 2.77067221e+00] [ 3.77006574e-03 2.35583191e-04 9.99992866e-01 8.63055022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750888478999997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:23.10, Y:2.78, Z:0.09 [[ 9.90330048e-01 -1.38682059e-01 -3.69898611e-03 2.30973062e+01] [ 1.38680162e-01 9.90336926e-01 -7.65655599e-04 2.77526134e+00] [ 3.76942523e-03 2.45275753e-04 9.99992866e-01 8.82130593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780888478999998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:23.12, Y:2.78, Z:0.09 [[ 9.89999249e-01 -1.41024111e-01 -3.69967576e-03 2.31236305e+01] [ 1.41022243e-01 9.90006134e-01 -7.62338405e-04 2.78065535e+00] [ 3.77020979e-03 2.32977875e-04 9.99992866e-01 8.66152056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810888479 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:23.15, Y:2.79, Z:0.09 [[ 9.89723078e-01 -1.42949472e-01 -3.69819807e-03 2.31505425e+01] [ 1.42947591e-01 9.89729960e-01 -7.69440701e-04 2.78500933e+00] [ 3.77020857e-03 2.32884713e-04 9.99992866e-01 8.72057749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840888478999997 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:23.18, Y:2.79, Z:0.09 [[ 9.89351975e-01 -1.45495680e-01 -3.69810493e-03 2.31787574e+01] [ 1.45493815e-01 9.89358862e-01 -7.69888095e-04 2.78938897e+00] [ 3.77076827e-03 2.23638913e-04 9.99992866e-01 8.87924350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870888478999998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:23.21, Y:2.79, Z:0.09 [[ 9.88537849e-01 -1.50927952e-01 -3.69792022e-03 2.32078550e+01] [ 1.50926121e-01 9.88544744e-01 -7.70774236e-04 2.79263446e+00] [ 3.77189098e-03 2.03826749e-04 9.99992866e-01 9.16931034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900888479 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:23.23, Y:2.80, Z:0.09 [[ 9.88128624e-01 -1.53584340e-01 -3.69772845e-03 2.32345372e+01] [ 1.53582524e-01 9.88135523e-01 -7.71693175e-04 2.79654765e+00] [ 3.77237682e-03 1.94625647e-04 9.99992866e-01 9.11976467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930888478999996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:23.26, Y:2.80, Z:0.09 [[ 9.87902134e-01 -1.55034514e-01 -3.69763327e-03 2.32614082e+01] [ 1.55032707e-01 9.87909036e-01 -7.72148937e-04 2.79984757e+00] [ 3.77263506e-03 1.89553485e-04 9.99992866e-01 9.32338595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960888478999998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:23.29, Y:2.80, Z:0.09 [[ 9.87664209e-01 -1.56543088e-01 -3.69754122e-03 2.32892470e+01] [ 1.56541290e-01 9.87671113e-01 -7.72589504e-04 2.80424589e+00] [ 3.77289820e-03 1.84241131e-04 9.99992866e-01 9.35204431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990888479 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:23.32, Y:2.81, Z:0.09 [[ 9.87484220e-01 -1.57674490e-01 -3.69732577e-03 2.33162029e+01] [ 1.57672696e-01 9.87491125e-01 -7.73619210e-04 2.81038141e+00] [ 3.77305640e-03 1.80969439e-04 9.99992866e-01 9.15958630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020888478999996 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:23.34, Y:2.82, Z:0.09 [[ 9.86971114e-01 -1.60855066e-01 -3.69711167e-03 2.33398328e+01] [ 1.60853290e-01 9.86978024e-01 -7.74641005e-04 2.81994468e+00] [ 3.77357290e-03 1.69855718e-04 9.99992866e-01 8.66677999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050888478999997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:23.37, Y:2.82, Z:0.09 [[ 9.87635640e-01 -1.56723458e-01 -3.68783308e-03 2.33716758e+01] [ 1.56721488e-01 9.87642498e-01 -8.18840943e-04 2.82347686e+00] [ 3.77059227e-03 2.30753809e-04 9.99992865e-01 9.07580349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080888479 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:23.40, Y:2.83, Z:0.09 [[ 9.87677984e-01 -1.56456163e-01 -3.69704889e-03 2.33997749e+01] [ 1.56454356e-01 9.87684886e-01 -7.74870654e-04 2.82738605e+00] [ 3.77275261e-03 1.86903282e-04 9.99992866e-01 9.10527026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110888478999996 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:23.43, Y:2.83, Z:0.09 [[ 9.87696503e-01 -1.56339214e-01 -3.69694821e-03 2.34282238e+01] [ 1.56337404e-01 9.87703404e-01 -7.75350733e-04 2.83146175e+00] [ 3.77270606e-03 1.87839923e-04 9.99992866e-01 9.10811209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140888478999997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:23.46, Y:2.83, Z:0.09 [[ 9.87948420e-01 -1.54739310e-01 -3.69676015e-03 2.34573125e+01] [ 1.54737486e-01 9.87955317e-01 -7.76246353e-04 2.83493645e+00] [ 3.77234967e-03 1.94863987e-04 9.99992866e-01 9.40273140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170888479 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:23.48, Y:2.84, Z:0.09 [[ 9.87192772e-01 -1.59489077e-01 -3.69656792e-03 2.34792247e+01] [ 1.59487282e-01 9.87199677e-01 -7.77160668e-04 2.84398377e+00] [ 3.77319930e-03 1.77651823e-04 9.99992866e-01 8.73730792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.200888478999996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:23.51, Y:2.85, Z:0.09 [[ 9.87783184e-01 -1.55790884e-01 -3.68545081e-03 2.35117656e+01] [ 1.55788868e-01 9.87790028e-01 -8.29873102e-04 2.84762926e+00] [ 3.76973822e-03 2.45582487e-04 9.99992864e-01 9.29396951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230888478999997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:23.54, Y:2.85, Z:0.09 [[ 9.87654262e-01 -1.56605860e-01 -3.69632646e-03 2.35390438e+01] [ 1.56604041e-01 9.87661161e-01 -7.78216587e-04 2.85464208e+00] [ 3.77259136e-03 1.89749269e-04 9.99992866e-01 9.29135920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260888479 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:23.57, Y:2.86, Z:0.09 [[ 9.87272461e-01 -1.58995048e-01 -3.69625834e-03 2.35675816e+01] [ 1.58993245e-01 9.87279364e-01 -7.78539989e-04 2.86000454e+00] [ 3.77302359e-03 1.80950982e-04 9.99992866e-01 9.45841356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290888478999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.60, Y:2.86, Z:0.10 [[ 9.87075935e-01 -1.60210603e-01 -3.69606188e-03 2.35965173e+01] [ 1.60208805e-01 9.87082839e-01 -7.79471574e-04 2.86419994e+00] [ 3.77319886e-03 1.77255975e-04 9.99992866e-01 9.84200851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320888478999997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:23.62, Y:2.87, Z:0.10 [[ 9.86786568e-01 -1.61983362e-01 -3.69586724e-03 2.36249354e+01] [ 1.61981573e-01 9.86793474e-01 -7.80393386e-04 2.86699441e+00] [ 3.77346842e-03 1.71419322e-04 9.99992866e-01 9.89664038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350888478999998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:23.65, Y:2.87, Z:0.10 [[ 9.86714284e-01 -1.62423104e-01 -3.69564582e-03 2.36519835e+01] [ 1.62421314e-01 9.86721190e-01 -7.81440526e-04 2.87344597e+00] [ 3.77349604e-03 1.70806880e-04 9.99992866e-01 9.93455621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380888478999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:23.67, Y:2.89, Z:0.09 [[ 9.85504082e-01 -1.69611465e-01 -3.69542356e-03 2.36658711e+01] [ 1.69609721e-01 9.85511000e-01 -7.82490182e-04 2.88669782e+00] [ 3.77459987e-03 1.44367509e-04 9.99992866e-01 9.48287261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410888478999997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:23.71, Y:2.89, Z:0.10 [[ 9.86920184e-01 -1.61167895e-01 -3.66881207e-03 2.37080242e+01] [ 1.61165626e-01 9.86926956e-01 -9.07704439e-04 2.88900346e+00] [ 3.76714234e-03 3.04545437e-04 9.99992858e-01 9.89798258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.440888478999998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:23.73, Y:2.90, Z:0.10 [[ 9.87406844e-01 -1.58158362e-01 -3.69557276e-03 2.37333623e+01] [ 1.58156544e-01 9.87413742e-01 -7.81092030e-04 2.89775668e+00] [ 3.77259556e-03 1.86776601e-04 9.99992866e-01 9.98215711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470888478999996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:23.75, Y:2.91, Z:0.09 [[ 9.86254398e-01 -1.65192633e-01 -3.69547778e-03 2.37466126e+01] [ 1.65190862e-01 9.86261308e-01 -7.81541112e-04 2.91075309e+00] [ 3.77381159e-03 1.60339197e-04 9.99992866e-01 8.99353609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.500888478999997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:23.79, Y:2.91, Z:0.10 [[ 9.88028327e-01 -1.54228968e-01 -3.66740754e-03 2.37893406e+01] [ 1.54226631e-01 9.88035076e-01 -9.13620485e-04 2.90926892e+00] [ 3.76443403e-03 3.37071011e-04 9.99992858e-01 9.52786291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530888478999998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:23.80, Y:2.92, Z:0.09 [[ 9.87320083e-01 -1.58699077e-01 -3.69546352e-03 2.38040745e+01] [ 1.58697263e-01 9.87326982e-01 -7.80840899e-04 2.92059353e+00] [ 3.77254957e-03 1.84479955e-04 9.99992867e-01 8.96455928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.560888479 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:23.83, Y:2.93, Z:0.09 [[ 9.88389296e-01 -1.51898325e-01 -3.67392423e-03 2.38347801e+01] [ 1.51896084e-01 9.88396074e-01 -8.83106042e-04 2.92545108e+00] [ 3.76543462e-03 3.14797856e-04 9.99992861e-01 9.40120689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590888478999997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:23.87, Y:2.93, Z:0.10 [[ 9.89174985e-01 -1.46694611e-01 -3.67964887e-03 2.38712133e+01] [ 1.46692435e-01 9.89181782e-01 -8.55903551e-04 2.92870853e+00] [ 3.76539806e-03 3.06861729e-04 9.99992864e-01 9.71616805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620888478999998 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:23.90, Y:2.94, Z:0.10 [[ 9.89182035e-01 -1.46646641e-01 -3.69654256e-03 2.38987893e+01] [ 1.46644764e-01 9.89188916e-01 -7.75362942e-04 2.93596932e+00] [ 3.77028330e-03 2.24896482e-04 9.99992867e-01 9.52200597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650888479 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:23.93, Y:2.94, Z:0.10 [[ 9.89194254e-01 -1.46564204e-01 -3.69632022e-03 2.39271480e+01] [ 1.46562322e-01 9.89201134e-01 -7.76421467e-04 2.94192493e+00] [ 3.77019974e-03 2.26290380e-04 9.99992867e-01 9.65471021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680888478999996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:23.95, Y:2.95, Z:0.09 [[ 9.88666876e-01 -1.50080466e-01 -3.69612682e-03 2.39482455e+01] [ 1.50078605e-01 9.88673762e-01 -7.77341049e-04 2.94946600e+00] [ 3.77092731e-03 2.13821791e-04 9.99992867e-01 9.46405783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710888478999998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:23.98, Y:2.95, Z:0.10 [[ 9.89269279e-01 -1.46057298e-01 -3.68220633e-03 2.39835743e+01] [ 1.46055165e-01 9.89276088e-01 -8.43365783e-04 2.95058007e+00] [ 3.76589840e-03 2.96510609e-04 9.99992865e-01 9.90213052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740888479 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:24.01, Y:2.96, Z:0.10 [[ 9.89339854e-01 -1.45578130e-01 -3.69612289e-03 2.40098996e+01] [ 1.45576238e-01 9.89346731e-01 -7.77181426e-04 2.95571732e+00] [ 3.76988771e-03 2.30828894e-04 9.99992867e-01 9.81817648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770888478999996 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:24.04, Y:2.96, Z:0.10 [[ 9.89614623e-01 -1.43698424e-01 -3.69602889e-03 2.40374053e+01] [ 1.43696518e-01 9.89621496e-01 -7.77628205e-04 2.96350515e+00] [ 3.76941358e-03 2.38445762e-04 9.99992867e-01 9.84666806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.800888478999997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:24.07, Y:2.97, Z:0.10 [[ 9.89708584e-01 -1.43049850e-01 -3.69580746e-03 2.40650831e+01] [ 1.43047935e-01 9.89715455e-01 -7.78679134e-04 2.97051218e+00] [ 3.76918770e-03 2.41987797e-04 9.99992867e-01 9.91628778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830888479 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:24.09, Y:2.98, Z:0.10 [[ 9.89743511e-01 -1.42808004e-01 -3.69558604e-03 2.40928802e+01] [ 1.42806083e-01 9.89750380e-01 -7.79728576e-04 2.97624918e+00] [ 3.76905917e-03 2.43979130e-04 9.99992867e-01 9.76623396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860888478999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:24.12, Y:2.98, Z:0.10 [[ 9.89693819e-01 -1.43151977e-01 -3.69536451e-03 2.41214337e+01] [ 1.43150055e-01 9.89700688e-01 -7.80777054e-04 2.97896944e+00] [ 3.76907458e-03 2.43738591e-04 9.99992867e-01 9.71099630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890888478999997 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:24.15, Y:2.98, Z:0.10 [[ 9.89542571e-01 -1.44193778e-01 -3.69517169e-03 2.41501803e+01] [ 1.44191860e-01 9.89549441e-01 -7.81688563e-04 2.98382712e+00] [ 3.76926971e-03 2.40700430e-04 9.99992867e-01 9.66110855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920888479 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:24.18, Y:2.99, Z:0.10 [[ 9.89336260e-01 -1.45602580e-01 -3.69497842e-03 2.41779221e+01] [ 1.45600668e-01 9.89343132e-01 -7.82601048e-04 2.99000019e+00] [ 3.76955026e-03 2.36264267e-04 9.99992867e-01 9.58865178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950888478999996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:24.20, Y:3.00, Z:0.09 [[ 9.89079035e-01 -1.47339784e-01 -3.69475674e-03 2.42038868e+01] [ 1.47337881e-01 9.89085909e-01 -7.83646262e-04 2.99977206e+00] [ 3.76989410e-03 2.30710461e-04 9.99992867e-01 9.00705753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980888478999997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:24.23, Y:3.01, Z:0.09 [[ 9.89003715e-01 -1.47844516e-01 -3.69468827e-03 2.42322122e+01] [ 1.47842615e-01 9.89010590e-01 -7.83968930e-04 3.00666561e+00] [ 3.76999133e-03 2.29115808e-04 9.99992867e-01 9.33040084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010888479 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:24.25, Y:3.02, Z:0.09 [[ 9.87813369e-01 -1.55599158e-01 -3.69449626e-03 2.42475398e+01] [ 1.55597307e-01 9.87820258e-01 -7.84872770e-04 3.01682418e+00] [ 3.77162379e-03 2.00454147e-04 9.99992867e-01 8.85157130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.040888478999996 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:24.28, Y:3.02, Z:0.10 [[ 9.87551155e-01 -1.57255323e-01 -3.67153784e-03 2.42795665e+01] [ 1.57253083e-01 9.87557933e-01 -8.92742364e-04 3.01508673e+00] [ 3.76624481e-03 3.04268108e-04 9.99992861e-01 9.54620341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070888478999997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:24.32, Y:3.01, Z:0.10 [[ 9.88260703e-01 -1.52732701e-01 -3.67485026e-03 2.43178933e+01] [ 1.52730487e-01 9.88267488e-01 -8.77167307e-04 3.01302158e+00] [ 3.76570717e-03 3.05608308e-04 9.99992863e-01 1.02226742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100888478999998 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:24.35, Y:3.02, Z:0.10 [[ 9.87977323e-01 -1.54554706e-01 -3.69488548e-03 2.43458907e+01] [ 1.54552856e-01 9.87984211e-01 -7.82571790e-04 3.01825808e+00] [ 3.77143867e-03 2.02108076e-04 9.99992868e-01 1.01370749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130888478999996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:24.37, Y:3.03, Z:0.10 [[ 9.87887757e-01 -1.55126173e-01 -3.69466188e-03 2.43717068e+01] [ 1.55124324e-01 9.87894645e-01 -7.83626044e-04 3.02588284e+00] [ 3.77149760e-03 2.01002646e-04 9.99992868e-01 9.84967716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160888478999997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:24.39, Y:3.04, Z:0.09 [[ 9.87198492e-01 -1.59453715e-01 -3.69451005e-03 2.43908067e+01] [ 1.59451894e-01 9.87205388e-01 -7.84341222e-04 3.03651004e+00] [ 3.77230635e-03 1.85203849e-04 9.99992868e-01 9.28611980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190888478999998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:24.42, Y:3.04, Z:0.10 [[ 9.87696712e-01 -1.56338361e-01 -3.67724693e-03 2.44224077e+01] [ 1.56336216e-01 9.87703518e-01 -8.65504404e-04 3.03977472e+00] [ 3.76734126e-03 2.79968985e-04 9.99992864e-01 9.73317091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220888478999996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:24.46, Y:3.04, Z:0.10 [[ 9.88374121e-01 -1.51996822e-01 -3.68282120e-03 2.44566441e+01] [ 1.51994744e-01 9.88380945e-01 -8.39290332e-04 3.03955314e+00] [ 3.76759976e-03 2.69763378e-04 9.99992866e-01 9.92373047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250888478999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:24.48, Y:3.05, Z:0.10 [[ 9.88104827e-01 -1.53737441e-01 -3.69457501e-03 2.44800345e+01] [ 1.53735581e-01 9.88111713e-01 -7.83893376e-04 3.04725851e+00] [ 3.77116660e-03 2.06581195e-04 9.99992868e-01 1.01633403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280888478999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.50, Y:3.05, Z:0.10 [[ 9.87771744e-01 -1.55863391e-01 -3.68574292e-03 2.45034056e+01] [ 1.55861392e-01 9.87778591e-01 -8.25480386e-04 3.05459485e+00] [ 3.76936012e-03 2.40921180e-04 9.99992867e-01 9.98681680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.53, Y:3.06, Z:0.10 [[ 9.87740346e-01 -1.56062447e-01 -3.67714323e-03 2.45312900e+01] [ 1.56060299e-01 9.87747151e-01 -8.65930877e-04 3.06028616e+00] [ 3.76722704e-03 2.81458792e-04 9.99992864e-01 9.89312539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340888478999997 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:24.57, Y:3.06, Z:0.10 [[ 9.87972280e-01 -1.54587364e-01 -3.67702343e-03 2.45664040e+01] [ 1.54585203e-01 9.87979081e-01 -8.66493844e-04 3.06465271e+00] [ 3.76677123e-03 2.87658486e-04 9.99992864e-01 1.00406416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370888478999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:24.59, Y:3.07, Z:0.10 [[ 9.87945738e-01 -1.54756605e-01 -3.68950126e-03 2.45943344e+01] [ 1.54754663e-01 9.87952601e-01 -8.07730393e-04 3.07057412e+00] [ 3.77005398e-03 2.27026274e-04 9.99992868e-01 1.00538015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400888479 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:24.62, Y:3.08, Z:0.10 [[ 9.87246500e-01 -1.59156327e-01 -3.68936516e-03 2.46164105e+01] [ 1.59154413e-01 9.87253371e-01 -8.08370634e-04 3.07898855e+00] [ 3.77099550e-03 2.10882331e-04 9.99992868e-01 9.51764621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430888478999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:24.65, Y:3.08, Z:0.10 [[ 9.87584146e-01 -1.57047777e-01 -3.68094788e-03 2.46505440e+01] [ 1.57045702e-01 9.87590972e-01 -8.47903618e-04 3.08084632e+00] [ 3.76843228e-03 2.59299126e-04 9.99992866e-01 1.02089343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460888478999998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:24.68, Y:3.09, Z:0.10 [[ 9.87120206e-01 -1.59937650e-01 -3.69431048e-03 2.46775045e+01] [ 1.59935829e-01 9.87127101e-01 -7.85019115e-04 3.08569656e+00] [ 3.77230810e-03 1.84055621e-04 9.99992868e-01 1.02174519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.70, Y:3.09, Z:0.10 [[ 9.85749972e-01 -1.68176530e-01 -3.69420009e-03 2.46999757e+01] [ 1.68174765e-01 9.85756882e-01 -7.85538233e-04 3.09057301e+00] [ 3.77369226e-03 1.53073058e-04 9.99992868e-01 1.04967020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.520888478999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:24.73, Y:3.10, Z:0.11 [[ 9.85297631e-01 -1.70806974e-01 -3.68190137e-03 2.47257149e+01] [ 1.70805011e-01 9.85304489e-01 -8.43360365e-04 3.09691008e+00] [ 3.77184578e-03 2.02073765e-04 9.99992866e-01 1.05018351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550888478999997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:24.76, Y:3.10, Z:0.10 [[ 9.86038388e-01 -1.66477555e-01 -3.67700642e-03 2.47612512e+01] [ 1.66475477e-01 9.86045214e-01 -8.66347996e-04 3.10327533e+00] [ 3.76992208e-03 2.42120984e-04 9.99992865e-01 1.02641296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580888479 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:24.79, Y:3.11, Z:0.10 [[ 9.86307826e-01 -1.64873356e-01 -3.69443097e-03 2.47884760e+01] [ 1.64871573e-01 9.86314731e-01 -7.84266536e-04 3.11078257e+00] [ 3.77317634e-03 1.64421579e-04 9.99992868e-01 1.01276045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610888478999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.82, Y:3.12, Z:0.10 [[ 9.86534486e-01 -1.63511652e-01 -3.69421044e-03 2.48159824e+01] [ 1.63509855e-01 9.86541388e-01 -7.85303958e-04 3.11729850e+00] [ 3.77289784e-03 1.70689624e-04 9.99992868e-01 9.99541036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640888478999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.84, Y:3.12, Z:0.10 [[ 9.86788910e-01 -1.61969135e-01 -3.69399050e-03 2.48441269e+01] [ 1.61967324e-01 9.86795809e-01 -7.86337162e-04 3.12173303e+00] [ 3.77257669e-03 1.77643037e-04 9.99992868e-01 9.80363328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670888479 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:24.87, Y:3.13, Z:0.10 [[ 9.86862486e-01 -1.61520248e-01 -3.69379961e-03 2.48707427e+01] [ 1.61518430e-01 9.86869382e-01 -7.87232857e-04 3.12569635e+00] [ 3.77245178e-03 1.80273860e-04 9.99992868e-01 9.97153967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700888478999996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:24.90, Y:3.13, Z:0.10 [[ 9.86895961e-01 -1.61315590e-01 -3.69370531e-03 2.48997510e+01] [ 1.61313769e-01 9.86902856e-01 -7.87675048e-04 3.13035715e+00] [ 3.77239258e-03 1.81507797e-04 9.99992868e-01 1.03363767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730888478999997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:24.93, Y:3.14, Z:0.10 [[ 9.86414798e-01 -1.64232167e-01 -3.69351564e-03 2.49267355e+01] [ 1.64230363e-01 9.86421698e-01 -7.88563426e-04 3.13918937e+00] [ 3.77287145e-03 1.71263217e-04 9.99992868e-01 1.00743592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:24.95, Y:3.15, Z:0.10 [[ 9.86370250e-01 -1.64499514e-01 -3.69329401e-03 2.49545445e+01] [ 1.64497708e-01 9.86377149e-01 -7.89600082e-04 3.14601783e+00] [ 3.77286965e-03 1.71299628e-04 9.99992868e-01 1.02239314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790888478999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.98, Y:3.15, Z:0.10 [[ 9.86150390e-01 -1.65812451e-01 -3.69310229e-03 2.49823962e+01] [ 1.65810651e-01 9.86157291e-01 -7.90495804e-04 3.15227787e+00] [ 3.77305379e-03 1.67192050e-04 9.99992868e-01 1.01317887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820888478999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:25.01, Y:3.15, Z:0.10 [[ 9.85560925e-01 -1.69280910e-01 -3.69288017e-03 2.50114684e+01] [ 1.69279130e-01 9.85567831e-01 -7.91532089e-04 3.15497632e+00] [ 3.77357517e-03 1.54975555e-04 9.99992868e-01 9.77552448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850888478999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.04, Y:3.16, Z:0.10 [[ 9.85559497e-01 -1.69289225e-01 -3.69268482e-03 2.50396536e+01] [ 1.69287442e-01 9.85566403e-01 -7.92442367e-04 3.15782066e+00] [ 3.77353805e-03 1.55873931e-04 9.99992868e-01 9.96352330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880888478999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.07, Y:3.16, Z:0.10 [[ 9.85322852e-01 -1.70661191e-01 -3.69261583e-03 2.50675210e+01] [ 1.70659416e-01 9.85329760e-01 -7.92763732e-04 3.16256656e+00] [ 3.77373827e-03 1.50948559e-04 9.99992868e-01 9.88107622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910888478999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:25.09, Y:3.17, Z:0.10 [[ 9.85036638e-01 -1.72305502e-01 -3.69254790e-03 2.50948187e+01] [ 1.72303738e-01 9.85043549e-01 -7.93080012e-04 3.16884333e+00] [ 3.77397254e-03 1.44973062e-04 9.99992868e-01 9.87070604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940888478999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:25.12, Y:3.18, Z:0.10 [[ 9.84477008e-01 -1.75474748e-01 -3.69232571e-03 2.51204651e+01] [ 1.75473002e-01 9.84483923e-01 -7.94113119e-04 3.17728164e+00] [ 3.77438210e-03 1.33882632e-04 9.99992868e-01 9.52059798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970888478999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:25.15, Y:3.18, Z:0.10 [[ 9.84230094e-01 -1.76854429e-01 -3.69222941e-03 2.51480687e+01] [ 1.76852691e-01 9.84237011e-01 -7.94560619e-04 3.18224567e+00] [ 3.77455040e-03 1.29049767e-04 9.99992868e-01 9.68547536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000888478999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.18, Y:3.19, Z:0.10 [[ 9.84016658e-01 -1.78038154e-01 -3.69212734e-03 2.51759569e+01] [ 1.78036423e-01 9.84023577e-01 -7.95034636e-04 3.18637315e+00] [ 3.77468685e-03 1.24994181e-04 9.99992868e-01 9.92223547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030888478999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:3.19, Z:0.10 [[ 9.83638575e-01 -1.80115306e-01 -3.69190743e-03 2.52025452e+01] [ 1.80113586e-01 9.83645496e-01 -7.96054500e-04 3.18915481e+00] [ 3.77490972e-03 1.18067228e-04 9.99992868e-01 1.00993388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:25.23, Y:3.19, Z:0.10 [[ 9.83427487e-01 -1.81264304e-01 -3.69181233e-03 2.52295518e+01] [ 1.81262590e-01 9.83434410e-01 -7.96495312e-04 3.19498120e+00] [ 3.77503145e-03 1.14107918e-04 9.99992868e-01 1.01220522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090888478999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:25.26, Y:3.20, Z:0.10 [[ 9.83138205e-01 -1.82826810e-01 -3.69158986e-03 2.52558346e+01] [ 1.82825103e-01 9.83145129e-01 -7.97525094e-04 3.20174589e+00] [ 3.77517756e-03 1.09162093e-04 9.99992868e-01 9.89027657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120888478999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:25.28, Y:3.21, Z:0.10 [[ 9.82958385e-01 -1.83791146e-01 -3.69149310e-03 2.52843035e+01] [ 1.83789444e-01 9.82965311e-01 -7.97972688e-04 3.20879683e+00] [ 3.77526998e-03 1.05916479e-04 9.99992868e-01 9.93625522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:25.31, Y:3.22, Z:0.10 [[ 9.82828685e-01 -1.84483471e-01 -3.69130011e-03 2.53124712e+01] [ 1.84481771e-01 9.82835611e-01 -7.98864432e-04 3.21718379e+00] [ 3.77531848e-03 1.04169298e-04 9.99992868e-01 9.90400298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180888478999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.34, Y:3.22, Z:0.10 [[ 9.82917520e-01 -1.84009575e-01 -3.69110467e-03 2.53388641e+01] [ 1.84007868e-01 9.82924445e-01 -7.99766438e-04 3.22244869e+00] [ 3.77524169e-03 1.06912142e-04 9.99992868e-01 9.92916680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210888478999998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:25.37, Y:3.23, Z:0.10 [[ 9.82867457e-01 -1.84276799e-01 -3.69100756e-03 2.53676346e+01] [ 1.84275092e-01 9.82874382e-01 -8.00214382e-04 3.22834334e+00] [ 3.77525771e-03 1.06343918e-04 9.99992868e-01 9.69480959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:3.23, Z:0.10 [[ 9.83497046e-01 -1.80886536e-01 -3.69083076e-03 2.53965009e+01] [ 1.80884802e-01 9.83503964e-01 -8.01028997e-04 3.23333156e+00] [ 3.77484204e-03 1.20194460e-04 9.99992868e-01 9.73388160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:3.24, Z:0.10 [[ 9.83869818e-01 -1.78847869e-01 -3.69064026e-03 2.54236900e+01] [ 1.78846118e-01 9.83876732e-01 -8.01905748e-04 3.23952324e+00] [ 3.77455421e-03 1.28914180e-04 9.99992868e-01 9.84709504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300888478999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:25.45, Y:3.25, Z:0.10 [[ 9.83996788e-01 -1.78147980e-01 -3.69042258e-03 2.54507802e+01] [ 1.78146220e-01 9.84003699e-01 -8.02906242e-04 3.24644442e+00] [ 3.77442560e-03 1.32622327e-04 9.99992868e-01 9.81197223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:25.48, Y:3.25, Z:0.10 [[ 9.84201522e-01 -1.77013406e-01 -3.69020561e-03 2.54788593e+01] [ 1.77011635e-01 9.84208431e-01 -8.03902228e-04 3.25381087e+00] [ 3.77423295e-03 1.37992469e-04 9.99992868e-01 1.02728374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360888478999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:25.51, Y:3.26, Z:0.10 [[ 9.84130790e-01 -1.77406234e-01 -3.69001505e-03 2.55068134e+01] [ 1.77404462e-01 9.84137698e-01 -8.04776002e-04 3.26137647e+00] [ 3.77425519e-03 1.37379710e-04 9.99992868e-01 1.04737838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390888478999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.53, Y:3.27, Z:0.11 [[ 9.84017661e-01 -1.78032659e-01 -3.68982472e-03 2.55349939e+01] [ 1.78030888e-01 9.84024570e-01 -8.05647665e-04 3.26885748e+00] [ 3.77430978e-03 1.35868759e-04 9.99992868e-01 1.05106158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.56, Y:3.27, Z:0.10 [[ 9.83908213e-01 -1.78636546e-01 -3.68963254e-03 2.55620877e+01] [ 1.78634776e-01 9.83915121e-01 -8.06526840e-04 3.27464204e+00] [ 3.77436042e-03 1.34451698e-04 9.99992868e-01 1.01662335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450888478999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.59, Y:3.28, Z:0.10 [[ 9.83832466e-01 -1.79053251e-01 -3.68956444e-03 2.55898504e+01] [ 1.79051482e-01 9.83839375e-01 -8.06838256e-04 3.27982100e+00] [ 3.77440579e-03 1.33171688e-04 9.99992868e-01 9.92484480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480888478999997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:25.62, Y:3.28, Z:0.10 [[ 9.83639467e-01 -1.80110483e-01 -3.68949758e-03 2.56182586e+01] [ 1.80108721e-01 9.83646378e-01 -8.07143876e-04 3.28488496e+00] [ 3.77453601e-03 1.29427882e-04 9.99992868e-01 9.65970826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.65, Y:3.29, Z:0.10 [[ 9.83660547e-01 -1.79995325e-01 -3.68930412e-03 2.56453026e+01] [ 1.79993559e-01 9.83667457e-01 -8.08027180e-04 3.29173425e+00] [ 3.77448952e-03 1.30773478e-04 9.99992868e-01 9.70675424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540888478999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.67, Y:3.30, Z:0.10 [[ 9.83590293e-01 -1.80378839e-01 -3.68908359e-03 2.56718834e+01] [ 1.80377072e-01 9.83597203e-01 -8.09032756e-04 3.30053171e+00] [ 3.77450469e-03 1.30330670e-04 9.99992868e-01 9.55631609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570888478999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.70, Y:3.31, Z:0.09 [[ 9.83610571e-01 -1.80268235e-01 -3.68886389e-03 2.56978836e+01] [ 1.80266463e-01 9.83617480e-01 -8.10033302e-04 3.30967547e+00] [ 3.77445427e-03 1.31778873e-04 9.99992868e-01 9.49910942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600888478999998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:25.73, Y:3.32, Z:0.10 [[ 9.83491907e-01 -1.80914513e-01 -3.68878219e-03 2.57257039e+01] [ 1.80912745e-01 9.83498816e-01 -8.10405169e-04 3.31705450e+00] [ 3.77452697e-03 1.29679215e-04 9.99992868e-01 9.65906307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630888478999996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:25.75, Y:3.32, Z:0.10 [[ 9.83384795e-01 -1.81495839e-01 -3.68858795e-03 2.57530410e+01] [ 1.81494071e-01 9.83391704e-01 -8.11288302e-04 3.32093607e+00] [ 3.77457224e-03 1.28351738e-04 9.99992868e-01 9.80491747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660888478999997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:25.78, Y:3.32, Z:0.10 [[ 9.83252319e-01 -1.82212160e-01 -3.68851914e-03 2.57807695e+01] [ 1.82210396e-01 9.83259230e-01 -8.11600993e-04 3.32457321e+00] [ 3.77465406e-03 1.25922025e-04 9.99992868e-01 1.01232576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690888478999998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:25.81, Y:3.33, Z:0.10 [[ 9.82937059e-01 -1.83905234e-01 -3.68829579e-03 2.58083103e+01] [ 1.83903479e-01 9.82943971e-01 -8.12614756e-04 3.33030341e+00] [ 3.77483222e-03 1.20458732e-04 9.99992868e-01 9.79304111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720888478999996 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:25.83, Y:3.34, Z:0.10 [[ 9.82971179e-01 -1.83722775e-01 -3.68819320e-03 2.58346418e+01] [ 1.83721016e-01 9.82978091e-01 -8.13080122e-04 3.34095976e+00] [ 3.77479444e-03 1.21635725e-04 9.99992868e-01 9.53800684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750888478999997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:25.86, Y:3.35, Z:0.09 [[ 9.83130888e-01 -1.82866223e-01 -3.68812496e-03 2.58625598e+01] [ 1.82864457e-01 9.83137797e-01 -8.13389544e-04 3.35043659e+00] [ 3.77467652e-03 1.25241416e-04 9.99992868e-01 9.35474315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780888478999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.89, Y:3.36, Z:0.10 [[ 9.83439157e-01 -1.81201060e-01 -3.68793367e-03 2.58905183e+01] [ 1.81199279e-01 9.83446063e-01 -8.14255922e-04 3.35777983e+00] [ 3.77442788e-03 1.32520235e-04 9.99992868e-01 9.60481254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810888478999995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:25.92, Y:3.36, Z:0.10 [[ 9.83871919e-01 -1.78836374e-01 -3.68773944e-03 2.59180754e+01] [ 1.78834573e-01 9.83878819e-01 -8.15134647e-04 3.36271409e+00] [ 3.77406445e-03 1.42492782e-04 9.99992868e-01 9.67221070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840888478999997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:25.95, Y:3.37, Z:0.10 [[ 9.84072648e-01 -1.77728515e-01 -3.68751417e-03 2.59468748e+01] [ 1.77726703e-01 9.84079546e-01 -8.16152446e-04 3.36830683e+00] [ 3.77386083e-03 1.47783564e-04 9.99992868e-01 9.86396163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870888478999998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:25.97, Y:3.37, Z:0.10 [[ 9.84365126e-01 -1.76101399e-01 -3.68731769e-03 2.59740839e+01] [ 1.76099571e-01 9.84372020e-01 -8.17039141e-04 3.37422712e+00] [ 3.77357410e-03 1.54929772e-04 9.99992868e-01 1.01718735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:26.00, Y:3.38, Z:0.10 [[ 9.84538469e-01 -1.75129686e-01 -3.68724822e-03 2.60003262e+01] [ 1.75127851e-01 9.84545361e-01 -8.17352537e-04 3.38438094e+00] [ 3.77340583e-03 1.58975160e-04 9.99992868e-01 9.85672274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930888478999996 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:26.03, Y:3.39, Z:0.10 [[ 9.84694440e-01 -1.74250582e-01 -3.68718040e-03 2.60274817e+01] [ 1.74248739e-01 9.84701329e-01 -8.17658380e-04 3.39269555e+00] [ 3.77324889e-03 1.62657124e-04 9.99992868e-01 9.85020817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960888478999998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:26.05, Y:3.40, Z:0.10 [[ 9.84731094e-01 -1.74043324e-01 -3.68696086e-03 2.60533551e+01] [ 1.74041477e-01 9.84737983e-01 -8.18647120e-04 3.40012431e+00] [ 3.77317047e-03 1.64463162e-04 9.99992868e-01 9.77733972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990888479 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:26.08, Y:3.41, Z:0.10 [[ 9.83861583e-01 -1.78893243e-01 -3.68686550e-03 2.60754713e+01] [ 1.78891428e-01 9.83868480e-01 -8.19076368e-04 3.40868938e+00] [ 3.77391798e-03 1.46309138e-04 9.99992868e-01 9.50261002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.020888478999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:26.11, Y:3.41, Z:0.10 [[ 9.84370266e-01 -1.76072920e-01 -3.67506836e-03 2.61096952e+01] [ 1.76070887e-01 9.84377104e-01 -8.72052625e-04 3.40996268e+00] [ 3.77119800e-03 2.11350127e-04 9.99992867e-01 1.01365879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050888478999997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:26.14, Y:3.42, Z:0.10 [[ 9.84031326e-01 -1.77957178e-01 -3.68681225e-03 2.61374918e+01] [ 1.77955355e-01 9.84038221e-01 -8.19199194e-04 3.41529337e+00] [ 3.77374654e-03 1.50029685e-04 9.99992868e-01 1.02967271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080888479 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:26.16, Y:3.42, Z:0.10 [[ 9.83468937e-01 -1.81039387e-01 -3.68658949e-03 2.61635232e+01] [ 1.81037582e-01 9.83475837e-01 -8.20200420e-04 3.42436095e+00] [ 3.77416027e-03 1.39230386e-04 9.99992868e-01 1.02258062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110888478999996 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:26.19, Y:3.43, Z:0.10 [[ 9.83464751e-01 -1.81062125e-01 -3.68646732e-03 2.61905721e+01] [ 1.81060318e-01 9.83471651e-01 -8.20749182e-04 3.43244888e+00] [ 3.77414269e-03 1.39704944e-04 9.99992868e-01 9.91020130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140888478999997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:26.22, Y:3.44, Z:0.10 [[ 9.83343918e-01 -1.81717265e-01 -3.68437825e-03 2.62186559e+01] [ 1.81715428e-01 9.83350809e-01 -8.30120486e-04 3.44028945e+00] [ 3.77388356e-03 1.46785561e-04 9.99992868e-01 1.00750864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:26.25, Y:3.45, Z:0.10 [[ 9.83318393e-01 -1.81855298e-01 -3.68618767e-03 2.62469061e+01] [ 1.81853492e-01 9.83325293e-01 -8.22006371e-04 3.44793369e+00] [ 3.77420778e-03 1.37947883e-04 9.99992868e-01 9.77419512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200888478999996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:26.27, Y:3.45, Z:0.10 [[ 9.83337377e-01 -1.81752624e-01 -3.68599180e-03 2.62746994e+01] [ 1.81750814e-01 9.83344276e-01 -8.22883727e-04 3.45462430e+00] [ 3.77416022e-03 1.39240314e-04 9.99992868e-01 9.87179029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230888478999997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:26.30, Y:3.46, Z:0.10 [[ 9.83369986e-01 -1.81576115e-01 -3.68576426e-03 2.63006519e+01] [ 1.81574300e-01 9.83376883e-01 -8.23901648e-04 3.46153033e+00] [ 3.77409623e-03 1.40960085e-04 9.99992868e-01 9.81457961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260888479 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:26.33, Y:3.47, Z:0.10 [[ 9.83389088e-01 -1.81472636e-01 -3.68566557e-03 2.63281318e+01] [ 1.81470819e-01 9.83395984e-01 -8.24342876e-04 3.46854926e+00] [ 3.77406440e-03 1.41809037e-04 9.99992868e-01 9.88349202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290888478999996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:26.36, Y:3.47, Z:0.10 [[ 9.83339842e-01 -1.81739297e-01 -3.68544166e-03 2.63560060e+01] [ 1.81737478e-01 9.83346738e-01 -8.25342731e-04 3.47488071e+00] [ 3.77406424e-03 1.41809518e-04 9.99992868e-01 9.89424870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320888478999997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:26.38, Y:3.48, Z:0.10 [[ 9.83379813e-01 -1.81522898e-01 -3.68521758e-03 2.63839418e+01] [ 1.81521074e-01 9.83386708e-01 -8.26342051e-04 3.48111272e+00] [ 3.77399399e-03 1.43663439e-04 9.99992868e-01 1.00865105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350888478999998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:26.41, Y:3.49, Z:0.10 [[ 9.83561284e-01 -1.80537035e-01 -3.68501761e-03 2.64128022e+01] [ 1.80535201e-01 9.83568176e-01 -8.27232869e-04 3.48598102e+00] [ 3.77381221e-03 1.48358830e-04 9.99992868e-01 1.03481820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380888478999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.44, Y:3.49, Z:0.11 [[ 9.83687599e-01 -1.79847518e-01 -3.68481622e-03 2.64399245e+01] [ 1.79845676e-01 9.83694489e-01 -8.28128954e-04 3.49203708e+00] [ 3.77367034e-03 1.51921919e-04 9.99992868e-01 1.05072253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410888478999997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:26.47, Y:3.50, Z:0.10 [[ 9.83941377e-01 -1.78453887e-01 -3.68474494e-03 2.64662249e+01] [ 1.78452033e-01 9.83948264e-01 -8.28445969e-04 3.50124618e+00] [ 3.77343779e-03 1.57592041e-04 9.99992868e-01 1.02103536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440888478999998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:26.49, Y:3.51, Z:0.10 [[ 9.84329246e-01 -1.76301894e-01 -3.68467600e-03 2.64934410e+01] [ 1.76300024e-01 9.84336129e-01 -8.28752502e-04 3.50827039e+00] [ 3.77307034e-03 1.66156857e-04 9.99992868e-01 1.04337001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470888478999996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:26.52, Y:3.51, Z:0.10 [[ 9.84544390e-01 -1.75096459e-01 -3.68444912e-03 2.65204099e+01] [ 1.75094577e-01 9.84551269e-01 -8.29759918e-04 3.51460894e+00] [ 3.77281708e-03 1.71808412e-04 9.99992868e-01 1.02055961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500888478999997 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:26.55, Y:3.52, Z:0.10 [[ 9.85170945e-01 -1.71536107e-01 -3.68422108e-03 2.65486980e+01] [ 1.71534197e-01 9.85177816e-01 -8.30771233e-04 3.51802714e+00] [ 3.77212014e-03 1.86481777e-04 9.99992868e-01 9.93569933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530888478999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.58, Y:3.52, Z:0.10 [[ 9.85583270e-01 -1.69150958e-01 -3.68402317e-03 2.65767147e+01] [ 1.69149028e-01 9.85590135e-01 -8.31647932e-04 3.52263473e+00] [ 3.77161094e-03 1.96509350e-04 9.99992868e-01 1.02822949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560888478999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:26.60, Y:3.53, Z:0.10 [[ 9.85819478e-01 -1.67768846e-01 -3.68378838e-03 2.66035162e+01] [ 1.67766902e-01 9.85826340e-01 -8.32686606e-04 3.52892349e+00] [ 3.77127449e-03 2.02860911e-04 9.99992868e-01 1.03139557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590888478999997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:26.63, Y:3.54, Z:0.10 [[ 9.86122355e-01 -1.65979309e-01 -3.68371576e-03 2.66301672e+01] [ 1.65977352e-01 9.86129213e-01 -8.33007755e-04 3.53804375e+00] [ 3.77088178e-03 2.10034182e-04 9.99992868e-01 1.02032642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620888478999998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:26.66, Y:3.54, Z:0.10 [[ 9.86225590e-01 -1.65364800e-01 -3.68364413e-03 2.66577605e+01] [ 1.65362837e-01 9.86232446e-01 -8.33324388e-04 3.54495732e+00] [ 3.77073188e-03 2.12707990e-04 9.99992868e-01 1.04195221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650888479 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:26.69, Y:3.55, Z:0.10 [[ 9.85985233e-01 -1.66791946e-01 -3.68344234e-03 2.66853246e+01] [ 1.66789990e-01 9.85992091e-01 -8.34215409e-04 3.55235325e+00] [ 3.77098542e-03 2.08162764e-04 9.99992868e-01 1.02082825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680888478999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:26.71, Y:3.56, Z:0.10 [[ 9.85667204e-01 -1.68661191e-01 -3.68320726e-03 2.67125328e+01] [ 1.68659244e-01 9.85674065e-01 -8.35252012e-04 3.55653123e+00] [ 3.77131647e-03 2.02073562e-04 9.99992868e-01 1.02847263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710888478999998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:26.74, Y:3.56, Z:0.10 [[ 9.85493383e-01 -1.69673884e-01 -3.68309719e-03 2.67401087e+01] [ 1.69671942e-01 9.85500245e-01 -8.35737090e-04 3.56142059e+00] [ 3.77149595e-03 1.98695119e-04 9.99992868e-01 1.03889693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740888479 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:26.76, Y:3.57, Z:0.10 [[ 9.84819053e-01 -1.73545008e-01 -3.68286163e-03 2.67631205e+01] [ 1.73543089e-01 9.84825922e-01 -8.36773851e-04 3.56974400e+00] [ 3.77219553e-03 1.84935646e-04 9.99992868e-01 9.86564682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770888478999996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:26.80, Y:3.57, Z:0.10 [[ 9.85373485e-01 -1.70369034e-01 -3.67260696e-03 2.67959268e+01] [ 1.70366926e-01 9.85380299e-01 -8.81796266e-04 3.57372959e+00] [ 3.76914532e-03 2.43207902e-04 9.99992867e-01 1.00818617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800888478999997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:26.82, Y:3.58, Z:0.09 [[ 9.84854897e-01 -1.73341481e-01 -3.68264614e-03 2.68183824e+01] [ 1.73339558e-01 9.84861765e-01 -8.37660561e-04 3.58422756e+00] [ 3.77209870e-03 1.86625853e-04 9.99992868e-01 9.46848308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:26.85, Y:3.59, Z:0.10 [[ 9.85556867e-01 -1.69305002e-01 -3.67117408e-03 2.68517884e+01] [ 1.69302864e-01 9.85563672e-01 -8.87965663e-04 3.58796768e+00] [ 3.76851284e-03 2.53600373e-04 9.99992867e-01 1.00129198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860888478999996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:26.88, Y:3.59, Z:0.10 [[ 9.85438840e-01 -1.69990388e-01 -3.68245061e-03 2.68800895e+01] [ 1.69988439e-01 9.85445700e-01 -8.38438805e-04 3.59188954e+00] [ 3.77138166e-03 2.00256134e-04 9.99992868e-01 9.98203737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890888478999997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:26.91, Y:3.60, Z:0.10 [[ 9.85475770e-01 -1.69776173e-01 -3.68222282e-03 2.69081773e+01] [ 1.69774218e-01 9.85482628e-01 -8.39438025e-04 3.59555852e+00] [ 3.77128319e-03 2.02099335e-04 9.99992868e-01 1.02833615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.94, Y:3.60, Z:0.10 [[ 9.85255629e-01 -1.71049081e-01 -3.68199003e-03 2.69363640e+01] [ 1.71047131e-01 9.85262489e-01 -8.40457839e-04 3.60035373e+00] [ 3.77148621e-03 1.98271985e-04 9.99992868e-01 1.01988112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950888478999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.97, Y:3.61, Z:0.10 [[ 9.85203578e-01 -1.71348636e-01 -3.68178406e-03 2.69653365e+01] [ 1.71346684e-01 9.85210437e-01 -8.41359167e-04 3.60562855e+00] [ 3.77149783e-03 1.98048570e-04 9.99992868e-01 1.00961551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980888478999997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:26.99, Y:3.62, Z:0.10 [[ 9.84536481e-01 -1.75140982e-01 -3.68159213e-03 2.69887977e+01] [ 1.75139054e-01 9.84543347e-01 -8.42198198e-04 3.61502876e+00] [ 3.77219045e-03 1.84384287e-04 9.99992868e-01 9.50470776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:27.02, Y:3.62, Z:0.10 [[ 9.85210419e-01 -1.71309533e-01 -3.67083918e-03 2.70219501e+01] [ 1.71307404e-01 9.85217226e-01 -8.89108989e-04 3.61838835e+00] [ 3.76888684e-03 2.47117509e-04 9.99992867e-01 9.98600954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040888478999996 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:27.05, Y:3.63, Z:0.10 [[ 9.84933113e-01 -1.72896527e-01 -3.68146946e-03 2.70492829e+01] [ 1.72894582e-01 9.84939975e-01 -8.42667126e-04 3.62554237e+00] [ 3.77172065e-03 1.93464635e-04 9.99992868e-01 9.64500622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070888478999997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:27.08, Y:3.63, Z:0.10 [[ 9.84848237e-01 -1.73379351e-01 -3.68123510e-03 2.70761464e+01] [ 1.73377405e-01 9.84855098e-01 -8.43689684e-04 3.63116993e+00] [ 3.77176152e-03 1.92663309e-04 9.99992868e-01 9.67949193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100888478999998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:27.10, Y:3.64, Z:0.10 [[ 9.84109249e-01 -1.77525872e-01 -3.68116265e-03 2.71016082e+01] [ 1.77523954e-01 9.84116118e-01 -8.44005689e-04 3.63775585e+00] [ 3.77252434e-03 1.77099255e-04 9.99992868e-01 9.61060972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130888478999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:27.13, Y:3.64, Z:0.10 [[ 9.84460019e-01 -1.75570392e-01 -3.67529875e-03 2.71323891e+01] [ 1.75568366e-01 9.84466857e-01 -8.69525286e-04 3.63944532e+00] [ 3.77087270e-03 2.10746685e-04 9.99992868e-01 1.02398408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160888478999997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:27.16, Y:3.64, Z:0.10 [[ 9.83812655e-01 -1.79162249e-01 -3.68072756e-03 2.71594109e+01] [ 1.79160336e-01 9.83819525e-01 -8.45903213e-04 3.64417894e+00] [ 3.77272557e-03 1.72769899e-04 9.99992868e-01 1.02443677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190888478999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:27.19, Y:3.65, Z:0.11 [[ 9.84056422e-01 -1.77818524e-01 -3.67837303e-03 2.71875095e+01] [ 1.77816562e-01 9.84063279e-01 -8.56137831e-04 3.65001947e+00] [ 3.77198899e-03 1.88412284e-04 9.99992868e-01 1.06269746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220888478999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:27.21, Y:3.66, Z:0.11 [[ 9.83905020e-01 -1.78654320e-01 -3.68051932e-03 2.72146700e+01] [ 1.78652399e-01 9.83911888e-01 -8.46809324e-04 3.65845851e+00] [ 3.77259286e-03 1.75646337e-04 9.99992868e-01 1.06526436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250888478999997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:27.24, Y:3.67, Z:0.10 [[ 9.83211309e-01 -1.82433484e-01 -3.68044609e-03 2.72425371e+01] [ 1.82431589e-01 9.83218184e-01 -8.47127483e-04 3.66525975e+00] [ 3.77322594e-03 1.61475694e-04 9.99992868e-01 1.04715741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280888478999998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:27.27, Y:3.67, Z:0.10 [[ 9.82777724e-01 -1.84754976e-01 -3.68024145e-03 2.72701878e+01] [ 1.84753094e-01 9.82784603e-01 -8.48015579e-04 3.66959721e+00] [ 3.77355973e-03 1.53474827e-04 9.99992868e-01 1.04818137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310888478999995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:27.30, Y:3.67, Z:0.11 [[ 9.82399806e-01 -1.86754059e-01 -3.68000598e-03 2.72978584e+01] [ 1.86752186e-01 9.82406688e-01 -8.49036194e-04 3.67381902e+00] [ 3.77382344e-03 1.46843829e-04 9.99992868e-01 1.06289832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340888478999997 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:27.32, Y:3.68, Z:0.10 [[ 9.81992811e-01 -1.88882445e-01 -3.67976407e-03 2.73246862e+01] [ 1.88880584e-01 9.81999696e-01 -8.50083343e-04 3.67768763e+00] [ 3.77409302e-03 1.39739746e-04 9.99992868e-01 1.04818134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370888478999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:27.35, Y:3.68, Z:0.11 [[ 9.81981829e-01 -1.88939553e-01 -3.67880102e-03 2.73525561e+01] [ 1.88937677e-01 9.81988709e-01 -8.54247825e-04 3.68462013e+00] [ 3.77394227e-03 1.43791724e-04 9.99992868e-01 1.05695939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:27.38, Y:3.69, Z:0.11 [[ 9.82119420e-01 -1.88223023e-01 -3.67943547e-03 2.73784356e+01] [ 1.88221152e-01 9.82126302e-01 -8.51506298e-04 3.69214443e+00] [ 3.77394344e-03 1.43733288e-04 9.99992868e-01 1.06169830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430888478999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:27.41, Y:3.70, Z:0.11 [[ 9.82244929e-01 -1.87566952e-01 -3.67933162e-03 2.74054753e+01] [ 1.87565074e-01 9.82251809e-01 -8.51954791e-04 3.70004214e+00] [ 3.77382871e-03 1.46714164e-04 9.99992868e-01 1.05066149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460888478999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:27.43, Y:3.71, Z:0.10 [[ 9.82286528e-01 -1.87348981e-01 -3.67909412e-03 2.74344903e+01] [ 1.87347098e-01 9.82293407e-01 -8.52979222e-04 3.70650287e+00] [ 3.77375468e-03 1.48602393e-04 9.99992868e-01 9.94211335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:27.46, Y:3.71, Z:0.10 [[ 9.82295608e-01 -1.87301302e-01 -3.68236782e-03 2.74614907e+01] [ 1.87299472e-01 9.82302501e-01 -8.38859657e-04 3.71027720e+00] [ 3.77431863e-03 1.34302609e-04 9.99992868e-01 9.92636427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520888478999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:27.49, Y:3.71, Z:0.11 [[ 9.82393455e-01 -1.86787424e-01 -3.68207450e-03 2.74871270e+01] [ 1.86785586e-01 9.82400346e-01 -8.40124543e-04 3.71309441e+00] [ 3.77419596e-03 1.37574410e-04 9.99992868e-01 1.05133202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550888478999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:27.52, Y:3.72, Z:0.11 [[ 9.82126348e-01 -1.88186886e-01 -3.67872214e-03 2.75151616e+01] [ 1.88185003e-01 9.82133226e-01 -8.54555904e-04 3.71936801e+00] [ 3.77381146e-03 1.47001530e-04 9.99992868e-01 1.05842011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:27.54, Y:3.73, Z:0.10 [[ 9.81844059e-01 -1.89654189e-01 -3.67851715e-03 2.75425561e+01] [ 1.89652313e-01 9.81850940e-01 -8.55437395e-04 3.72798861e+00] [ 3.77399281e-03 1.42266838e-04 9.99992868e-01 1.04905313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610888478999996 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:27.57, Y:3.74, Z:0.11 [[ 9.81557899e-01 -1.91129698e-01 -3.67830932e-03 2.75701139e+01] [ 1.91127829e-01 9.81564781e-01 -8.56330124e-04 3.73571095e+00] [ 3.77416900e-03 1.37510324e-04 9.99992868e-01 1.05295583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640888478999997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:27.60, Y:3.74, Z:0.11 [[ 9.81239396e-01 -1.92758188e-01 -3.67809857e-03 2.75969396e+01] [ 1.92756327e-01 9.81246281e-01 -8.57234374e-04 3.74153099e+00] [ 3.77435949e-03 1.32175369e-04 9.99992868e-01 1.06416786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:27.63, Y:3.74, Z:0.11 [[ 9.80871896e-01 -1.94619616e-01 -3.67802391e-03 2.76255082e+01] [ 1.94617767e-01 9.80878784e-01 -8.57554600e-04 3.74305351e+00] [ 3.77459257e-03 1.25342406e-04 9.99992868e-01 1.10256259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700888478999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:27.65, Y:3.75, Z:0.11 [[ 9.80760964e-01 -1.95177884e-01 -3.67778108e-03 2.76518224e+01] [ 1.95176035e-01 9.80767851e-01 -8.58594755e-04 3.74714627e+00] [ 3.77462815e-03 1.24261491e-04 9.99992868e-01 1.10258711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730888478999997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:27.68, Y:3.75, Z:0.11 [[ 9.80752377e-01 -1.95221026e-01 -3.67767599e-03 2.76793697e+01] [ 1.95219175e-01 9.80759265e-01 -8.59044657e-04 3.75248169e+00] [ 3.77461838e-03 1.24557216e-04 9.99992868e-01 1.10663732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:27.71, Y:3.76, Z:0.11 [[ 9.81129156e-01 -1.93318535e-01 -3.67743846e-03 2.77061121e+01] [ 1.93316667e-01 9.81136039e-01 -8.60060278e-04 3.76086450e+00] [ 3.77433300e-03 1.32920067e-04 9.99992868e-01 1.07878222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790888478999996 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:27.73, Y:3.77, Z:0.11 [[ 9.81459967e-01 -1.91631970e-01 -3.67720252e-03 2.77328472e+01] [ 1.91630087e-01 9.81466845e-01 -8.61067861e-04 3.76903206e+00] [ 3.77406049e-03 1.40440996e-04 9.99992868e-01 1.07928850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820888478999997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:27.76, Y:3.78, Z:0.10 [[ 9.81766222e-01 -1.90056740e-01 -3.67695746e-03 2.77595016e+01] [ 1.90054842e-01 9.81773097e-01 -8.62113052e-04 3.77708822e+00] [ 3.77378831e-03 1.47569904e-04 9.99992868e-01 1.04726557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850888478999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:27.79, Y:3.78, Z:0.11 [[ 9.82327922e-01 -1.87131882e-01 -3.67589774e-03 2.77868079e+01] [ 1.87129946e-01 9.82334786e-01 -8.66628586e-04 3.78263340e+00] [ 3.77313606e-03 1.63442911e-04 9.99992868e-01 1.07330243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880888478999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:27.81, Y:3.79, Z:0.11 [[ 9.82551604e-01 -1.85953813e-01 -3.67758356e-03 2.78127145e+01] [ 1.85951896e-01 9.82558473e-01 -8.59448792e-04 3.78823718e+00] [ 3.77325867e-03 1.60599153e-04 9.99992868e-01 1.08067046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910888478999997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:27.84, Y:3.80, Z:0.11 [[ 9.82305880e-01 -1.87247542e-01 -3.67652161e-03 2.78403206e+01] [ 1.87245617e-01 9.82312747e-01 -8.63967815e-04 3.79500799e+00] [ 3.77326989e-03 1.60268106e-04 9.99992868e-01 1.07772842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940888478999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:27.87, Y:3.80, Z:0.11 [[ 9.82042668e-01 -1.88623122e-01 -3.67628298e-03 2.78677557e+01] [ 1.88621204e-01 9.82049537e-01 -8.64982025e-04 3.80084914e+00] [ 3.77344761e-03 1.56024335e-04 9.99992868e-01 1.10362710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970888478999996 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:27.89, Y:3.81, Z:0.11 [[ 9.81516455e-01 -1.91342456e-01 -3.67604355e-03 2.78948183e+01] [ 1.91340552e-01 9.81523328e-01 -8.65998355e-04 3.80674298e+00] [ 3.77382476e-03 1.46615431e-04 9.99992868e-01 1.09266251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000888478999997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:27.92, Y:3.81, Z:0.11 [[ 9.80921383e-01 -1.94370080e-01 -3.67580442e-03 2.79215191e+01] [ 1.94368194e-01 9.80928261e-01 -8.67012188e-04 3.81284585e+00] [ 3.77422167e-03 1.36011328e-04 9.99992868e-01 1.06383782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030888478999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:27.95, Y:3.82, Z:0.11 [[ 9.80018061e-01 -1.98874554e-01 -3.67573048e-03 2.79486544e+01] [ 1.98872698e-01 9.80024947e-01 -8.67325544e-04 3.81856473e+00] [ 3.77479655e-03 1.18992259e-04 9.99992868e-01 1.06996502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060888478999995 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:27.98, Y:3.82, Z:0.11 [[ 9.79617556e-01 -2.00838082e-01 -3.67549281e-03 2.79757038e+01] [ 2.00836236e-01 9.79624445e-01 -8.68331584e-04 3.82454322e+00] [ 3.77499665e-03 1.12460724e-04 9.99992868e-01 1.08163485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090888478999997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:28.00, Y:3.83, Z:0.11 [[ 9.79262034e-01 -2.02564460e-01 -3.67525329e-03 2.80024649e+01] [ 2.02562623e-01 9.79268925e-01 -8.69344176e-04 3.82981937e+00] [ 3.77515957e-03 1.06846801e-04 9.99992868e-01 1.09274894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120888478999998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:28.03, Y:3.84, Z:0.11 [[ 9.78984301e-01 -2.03902507e-01 -3.67514965e-03 2.80301293e+01] [ 2.03900677e-01 9.78991194e-01 -8.69782076e-04 3.83548558e+00] [ 3.77528989e-03 1.02137495e-04 9.99992868e-01 1.10463179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:28.06, Y:3.84, Z:0.11 [[ 9.78621741e-01 -2.05635559e-01 -3.67491383e-03 2.80566377e+01] [ 2.05633738e-01 9.78628636e-01 -8.70777313e-04 3.84372787e+00] [ 3.77543869e-03 9.64753431e-05 9.99992868e-01 1.09848916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180888478999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:28.08, Y:3.85, Z:0.11 [[ 9.78565479e-01 -2.05903132e-01 -3.67467490e-03 2.80844404e+01] [ 2.05901309e-01 9.78572374e-01 -8.71784445e-04 3.85040864e+00] [ 3.77543848e-03 9.64777937e-05 9.99992868e-01 1.09956487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210888478999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.11, Y:3.86, Z:0.11 [[ 9.78472217e-01 -2.06345874e-01 -3.67443625e-03 2.81118915e+01] [ 2.06344050e-01 9.78479111e-01 -8.72789124e-04 3.85809169e+00] [ 3.77545555e-03 9.58018500e-05 9.99992868e-01 1.11329717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240888479 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:28.14, Y:3.87, Z:0.11 [[ 9.78231438e-01 -2.07484346e-01 -3.67419164e-03 2.81395514e+01] [ 2.07482527e-01 9.78238334e-01 -8.73817661e-04 3.86508190e+00] [ 3.77553860e-03 9.24653411e-05 9.99992868e-01 1.11962634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270888478999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:28.17, Y:3.87, Z:0.11 [[ 9.78040076e-01 -2.08384479e-01 -3.67673686e-03 2.81670920e+01] [ 2.08382706e-01 9.78046984e-01 -8.63115079e-04 3.86944130e+00] [ 3.77588118e-03 7.79927617e-05 9.99992868e-01 1.10978245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300888478999997 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:28.19, Y:3.88, Z:0.11 [[ 9.77899906e-01 -2.09041324e-01 -3.67398397e-03 2.81948130e+01] [ 2.09039512e-01 9.77906804e-01 -8.74678270e-04 3.87540645e+00] [ 3.77565782e-03 8.73399815e-05 9.99992868e-01 1.10965859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:28.22, Y:3.88, Z:0.11 [[ 9.77934667e-01 -2.08878650e-01 -3.67374116e-03 2.82206379e+01] [ 2.08876833e-01 9.77941564e-01 -8.75696900e-04 3.88191962e+00] [ 3.77561856e-03 8.90149371e-05 9.99992868e-01 1.12781328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360888478999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:28.25, Y:3.89, Z:0.11 [[ 9.78097664e-01 -2.08114066e-01 -3.67363596e-03 2.82478546e+01] [ 2.08112242e-01 9.78104558e-01 -8.76138019e-04 3.88983188e+00] [ 3.77553672e-03 9.24199348e-05 9.99992868e-01 1.12119653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390888478999997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:28.27, Y:3.90, Z:0.11 [[ 9.78767173e-01 -2.04942252e-01 -3.67339902e-03 2.82748968e+01] [ 2.04940402e-01 9.78774061e-01 -8.77130279e-04 3.89944739e+00] [ 3.77518874e-03 1.05678450e-04 9.99992868e-01 1.08822394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:28.30, Y:3.91, Z:0.11 [[ 9.79362362e-01 -2.02078873e-01 -3.67316079e-03 2.83021152e+01] [ 2.02077000e-01 9.79369243e-01 -8.78126803e-04 3.90619330e+00] [ 3.77483158e-03 1.17743028e-04 9.99992868e-01 1.10768100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450888478999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:28.32, Y:3.92, Z:0.10 [[ 9.79156144e-01 -2.03075735e-01 -3.67308700e-03 2.83249039e+01] [ 2.03073867e-01 9.79163027e-01 -8.78435359e-04 3.91525534e+00] [ 3.77493989e-03 1.14217399e-04 9.99992868e-01 1.04616932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480888478999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.36, Y:3.92, Z:0.11 [[ 9.80545384e-01 -1.96258343e-01 -3.66245516e-03 2.83571069e+01] [ 1.96256262e-01 9.80552206e-01 -9.22797910e-04 3.91853994e+00] [ 3.77233528e-03 1.86065471e-04 9.99992867e-01 1.12837288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:28.38, Y:3.93, Z:0.11 [[ 9.80501011e-01 -1.96479711e-01 -3.67286382e-03 2.83838811e+01] [ 1.96477793e-01 9.80507880e-01 -8.79321688e-04 3.92580626e+00] [ 3.77404079e-03 1.40539625e-04 9.99992868e-01 1.11328987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540888478999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:28.41, Y:3.93, Z:0.11 [[ 9.80349381e-01 -1.97234891e-01 -3.67261533e-03 2.84070467e+01] [ 1.97232975e-01 9.80356251e-01 -8.80358351e-04 3.93428337e+00] [ 3.77410878e-03 1.38697919e-04 9.99992868e-01 1.10955065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570888478999997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:28.44, Y:3.94, Z:0.11 [[ 9.80427138e-01 -1.96848154e-01 -3.66489259e-03 2.84377677e+01] [ 1.96846115e-01 9.80433972e-01 -9.12485521e-04 3.94114984e+00] [ 3.77280629e-03 1.73205699e-04 9.99992868e-01 1.13800624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600888478999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:28.47, Y:3.95, Z:0.11 [[ 9.80490209e-01 -1.96533622e-01 -3.67218894e-03 2.84654031e+01] [ 1.96531695e-01 9.80497075e-01 -8.82111125e-04 3.94731067e+00] [ 3.77393501e-03 1.43199804e-04 9.99992868e-01 1.12149821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630888478999996 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:28.49, Y:3.95, Z:0.11 [[ 9.80661090e-01 -1.95679183e-01 -3.67194375e-03 2.84935609e+01] [ 1.95677246e-01 9.80667954e-01 -8.83130606e-04 3.95254207e+00] [ 3.77376784e-03 1.47535983e-04 9.99992868e-01 1.12719726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660888478999997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:28.52, Y:3.96, Z:0.11 [[ 9.81126577e-01 -1.93331734e-01 -3.67167220e-03 2.85204671e+01] [ 1.93329776e-01 9.81133434e-01 -8.84258139e-04 3.95664705e+00] [ 3.77335552e-03 1.57725597e-04 9.99992868e-01 1.14852749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690888478999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:28.55, Y:3.96, Z:0.11 [[ 9.81279924e-01 -1.92551890e-01 -3.67154567e-03 2.85473438e+01] [ 1.92549924e-01 9.81286780e-01 -8.84783224e-04 3.96429054e+00] [ 3.77320591e-03 1.61264175e-04 9.99992868e-01 1.12458571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720888478999996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:28.57, Y:3.97, Z:0.11 [[ 9.81495630e-01 -1.91449339e-01 -3.67130448e-03 2.85745949e+01] [ 1.91447362e-01 9.81502482e-01 -8.85782892e-04 3.97300207e+00] [ 3.77297701e-03 1.66530481e-04 9.99992868e-01 1.11551062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750888478999997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:28.60, Y:3.98, Z:0.11 [[ 9.81599362e-01 -1.90916776e-01 -3.67105415e-03 2.86017386e+01] [ 1.90914792e-01 9.81606212e-01 -8.86819115e-04 3.97955883e+00] [ 3.77283821e-03 1.69642537e-04 9.99992868e-01 1.11413658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780888478999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:28.63, Y:3.99, Z:0.11 [[ 9.81589353e-01 -1.90968236e-01 -3.67080434e-03 2.86294821e+01] [ 1.90966248e-01 9.81596202e-01 -8.87851972e-04 3.98560811e+00] [ 3.77279912e-03 1.70506312e-04 9.99992868e-01 1.14348147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810888478999995 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:28.66, Y:3.99, Z:0.11 [[ 9.80950832e-01 -1.94221502e-01 -3.67055472e-03 2.86564453e+01] [ 1.94219533e-01 9.80957687e-01 -8.88882751e-04 3.99358923e+00] [ 3.77329901e-03 1.59056853e-04 9.99992868e-01 1.11847634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840888478999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:28.68, Y:3.99, Z:0.12 [[ 9.81187127e-01 -1.93024222e-01 -3.67029396e-03 2.86837808e+01] [ 1.93022241e-01 9.81193978e-01 -8.89958160e-04 3.99471612e+00] [ 3.77305381e-03 1.64767127e-04 9.99992868e-01 1.15480851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870888478999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:28.71, Y:4.00, Z:0.11 [[ 9.81054958e-01 -1.93694865e-01 -3.67003649e-03 2.87113404e+01] [ 1.93692885e-01 9.81061809e-01 -8.91018656e-04 4.00064089e+00] [ 3.77311837e-03 1.63278315e-04 9.99992868e-01 1.13687807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900888479 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:28.74, Y:4.01, Z:0.11 [[ 9.81018227e-01 -1.93880817e-01 -3.66978503e-03 2.87373932e+01] [ 1.93878834e-01 9.81025077e-01 -8.92053126e-04 4.00727210e+00] [ 3.77310313e-03 1.63626736e-04 9.99992868e-01 1.11135308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930888478999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:28.76, Y:4.01, Z:0.11 [[ 9.81224857e-01 -1.92832348e-01 -3.66967644e-03 2.87640076e+01] [ 1.92830356e-01 9.81231704e-01 -8.92499621e-04 4.01389675e+00] [ 3.77290566e-03 1.68117800e-04 9.99992868e-01 1.10607759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960888478999998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:28.79, Y:4.02, Z:0.11 [[ 9.81463846e-01 -1.91612247e-01 -3.66950705e-03 2.87907483e+01] [ 1.91610244e-01 9.81470691e-01 -8.93195502e-04 4.01809628e+00] [ 3.77266082e-03 1.73523950e-04 9.99992868e-01 1.09527682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:4.02, Z:0.11 [[ 9.81777263e-01 -1.89999910e-01 -3.66594767e-03 2.88212816e+01] [ 1.89997841e-01 9.81784088e-01 -9.07828155e-04 4.02220299e+00] [ 3.77165636e-03 1.94762900e-04 9.99992868e-01 1.14888924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020888479 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:28.85, Y:4.03, Z:0.11 [[ 9.81490115e-01 -1.91477583e-01 -3.67286997e-03 2.88459337e+01] [ 1.91475630e-01 9.81496974e-01 -8.79361732e-04 4.02957752e+00] [ 3.77328882e-03 1.59819754e-04 9.99992868e-01 1.11717136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:28.87, Y:4.04, Z:0.11 [[ 9.80868484e-01 -1.94636978e-01 -3.66933157e-03 2.88685525e+01] [ 1.94634994e-01 9.80875334e-01 -8.93886586e-04 4.03591725e+00] [ 3.77314021e-03 1.62604855e-04 9.99992868e-01 1.10013706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:28.90, Y:4.04, Z:0.11 [[ 9.81061593e-01 -1.93661503e-01 -3.65681454e-03 2.89011759e+01] [ 1.93659320e-01 9.81068384e-01 -9.45162754e-04 4.04100193e+00] [ 3.77062677e-03 2.19086660e-04 9.99992867e-01 1.11168361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110888479 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:28.92, Y:4.05, Z:0.11 [[ 9.80586698e-01 -1.96051689e-01 -3.66917747e-03 2.89249460e+01] [ 1.96049713e-01 9.80593550e-01 -8.94447938e-04 4.04640904e+00] [ 3.77332979e-03 1.57742563e-04 9.99992869e-01 1.09949398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140888479 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:28.96, Y:4.05, Z:0.11 [[ 9.80665178e-01 -1.95658947e-01 -3.65863086e-03 2.89569487e+01] [ 1.95656807e-01 9.80671981e-01 -9.37617311e-04 4.05067902e+00] [ 3.77136999e-03 2.03652616e-04 9.99992868e-01 1.11316495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:28.98, Y:4.05, Z:0.11 [[ 9.80355774e-01 -1.97203182e-01 -3.66895512e-03 2.89844523e+01] [ 1.97201210e-01 9.80362627e-01 -8.95308739e-04 4.05415035e+00] [ 3.77346422e-03 1.54198702e-04 9.99992869e-01 1.12370408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:29.01, Y:4.06, Z:0.11 [[ 9.80192866e-01 -1.98011327e-01 -3.66878561e-03 2.90119170e+01] [ 1.98009358e-01 9.80199720e-01 -8.96002819e-04 4.05960587e+00] [ 3.77356134e-03 1.51801688e-04 9.99992869e-01 1.12539942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:29.04, Y:4.06, Z:0.11 [[ 9.79987239e-01 -1.99026514e-01 -3.66853924e-03 2.90397504e+01] [ 1.99024548e-01 9.79994094e-01 -8.97010424e-04 4.06337935e+00] [ 3.77367564e-03 1.48929404e-04 9.99992869e-01 1.14160468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260888479 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:29.06, Y:4.07, Z:0.11 [[ 9.79152733e-01 -2.03092265e-01 -3.66846304e-03 2.90581391e+01] [ 2.03090327e-01 9.79159596e-01 -8.97321943e-04 4.07082700e+00] [ 3.77424993e-03 1.33585877e-04 9.99992869e-01 1.09568911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:29.09, Y:4.07, Z:0.11 [[ 9.80148752e-01 -1.98229980e-01 -3.64680099e-03 2.90949980e+01] [ 1.98227678e-01 9.80155506e-01 -9.85627636e-04 4.07444188e+00] [ 3.76981302e-03 2.43164803e-04 9.99992865e-01 1.11259715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320888479000004 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:29.12, Y:4.08, Z:0.11 [[ 9.80253839e-01 -1.97709262e-01 -3.66850541e-03 2.91223458e+01] [ 1.97707288e-01 9.80260692e-01 -8.96846942e-04 4.08070880e+00] [ 3.77340660e-03 1.53847404e-04 9.99992869e-01 1.11742968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:29.15, Y:4.09, Z:0.11 [[ 9.80731602e-01 -1.95325545e-01 -3.66825836e-03 2.91497883e+01] [ 1.95323550e-01 9.80738449e-01 -8.97856279e-04 4.08790548e+00] [ 3.77297628e-03 1.64058781e-04 9.99992869e-01 1.11688782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.18, Y:4.09, Z:0.11 [[ 9.80908687e-01 -1.94434291e-01 -3.66800840e-03 2.91766642e+01] [ 1.94432287e-01 9.80915530e-01 -8.98876268e-04 4.09403356e+00] [ 3.77277878e-03 1.68536278e-04 9.99992869e-01 1.13731761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410888479 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:29.19, Y:4.10, Z:0.11 [[ 9.79915818e-01 -1.99377873e-01 -3.66793118e-03 2.91924155e+01] [ 1.99375901e-01 9.79922671e-01 -8.99191264e-04 4.10371184e+00] [ 3.77356776e-03 1.49834658e-04 9.99992869e-01 1.07530491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.440888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:29.23, Y:4.10, Z:0.11 [[ 9.81277376e-01 -1.92565450e-01 -3.64124556e-03 2.92326719e+01] [ 1.92563028e-01 9.81284090e-01 -1.00765136e-03 4.10328534e+00] [ 3.76713517e-03 2.87616209e-04 9.99992863e-01 1.11820098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:29.26, Y:4.11, Z:0.11 [[ 9.81241129e-01 -1.92749560e-01 -3.66789586e-03 2.92587137e+01] [ 1.92747543e-01 9.81247969e-01 -8.98907802e-04 4.10898110e+00] [ 3.77237944e-03 1.75067392e-04 9.99992869e-01 1.11671117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500888479000004 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:29.27, Y:4.12, Z:0.11 [[ 9.79891909e-01 -1.99495348e-01 -3.66778976e-03 2.92723866e+01] [ 1.99493377e-01 9.79898762e-01 -8.99340496e-04 4.12009121e+00] [ 3.77347689e-03 1.49556709e-04 9.99992869e-01 1.06608072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:4.12, Z:0.11 [[ 9.80919495e-01 -1.94380298e-01 -3.63915234e-03 2.93148571e+01] [ 1.94377859e-01 9.80926203e-01 -1.01577409e-03 4.12088590e+00] [ 3.76718636e-03 2.89021964e-04 9.99992862e-01 1.13447520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:4.13, Z:0.11 [[ 9.80796746e-01 -1.94998179e-01 -3.66794831e-03 2.93423890e+01] [ 1.94996181e-01 9.80803590e-01 -8.98178267e-04 4.12730851e+00] [ 3.77267999e-03 1.65694409e-04 9.99992870e-01 1.12323023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590888479 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:29.37, Y:4.13, Z:0.11 [[ 9.80712833e-01 -1.95419771e-01 -3.66787247e-03 2.93703810e+01] [ 1.95417774e-01 9.80719678e-01 -8.98487851e-04 4.13413686e+00] [ 3.77273700e-03 1.64391092e-04 9.99992870e-01 1.09074548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620888479 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:29.40, Y:4.14, Z:0.11 [[ 9.80718692e-01 -1.95390368e-01 -3.66765882e-03 2.93983070e+01] [ 1.95388369e-01 9.80725536e-01 -8.99359143e-04 4.13995670e+00] [ 3.77269277e-03 1.65400449e-04 9.99992870e-01 1.06562386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650888479 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:29.43, Y:4.15, Z:0.11 [[ 9.80693526e-01 -1.95516644e-01 -3.66744229e-03 2.94261773e+01] [ 1.95514642e-01 9.80700369e-01 -9.00241250e-04 4.14652803e+00] [ 3.77267415e-03 1.65822100e-04 9.99992870e-01 1.05481782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680888479000004 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:29.45, Y:4.15, Z:0.11 [[ 9.80526467e-01 -1.96352742e-01 -3.66722569e-03 2.94544449e+01] [ 1.96350743e-01 9.80533311e-01 -9.01122723e-04 4.15323803e+00] [ 3.77277487e-03 1.63512192e-04 9.99992870e-01 1.05066753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:29.48, Y:4.16, Z:0.11 [[ 9.79996186e-01 -1.98982481e-01 -3.66700793e-03 2.94825573e+01] [ 1.98980497e-01 9.80003035e-01 -9.02008019e-04 4.15947196e+00] [ 3.77316269e-03 1.54301360e-04 9.99992870e-01 1.05257936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740888479 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:29.51, Y:4.17, Z:0.11 [[ 9.79679941e-01 -2.00533707e-01 -3.66678961e-03 2.95088625e+01] [ 2.00531730e-01 9.79686792e-01 -9.02894624e-04 4.16511273e+00] [ 3.77336616e-03 1.49240088e-04 9.99992870e-01 1.05033224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:29.54, Y:4.17, Z:0.11 [[ 9.79279720e-01 -2.02479097e-01 -3.66668123e-03 2.95367746e+01] [ 2.02477132e-01 9.79286574e-01 -9.03334552e-04 4.17092750e+00] [ 3.77363807e-03 1.42198106e-04 9.99992870e-01 1.07383447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:29.56, Y:4.18, Z:0.11 [[ 9.78846595e-01 -2.04562704e-01 -3.66646573e-03 2.95643603e+01] [ 2.04560751e-01 9.78853453e-01 -9.04208395e-04 4.17642996e+00] [ 3.77389995e-03 1.35066328e-04 9.99992870e-01 1.08568539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830888479 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:29.59, Y:4.18, Z:0.11 [[ 9.77920244e-01 -2.08946296e-01 -3.66635128e-03 2.95931917e+01] [ 2.08944371e-01 9.77927109e-01 -9.04672228e-04 4.18164689e+00] [ 3.77445222e-03 1.18633825e-04 9.99992870e-01 1.08683849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860888479 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:29.62, Y:4.19, Z:0.11 [[ 9.77579910e-01 -2.10532847e-01 -3.66613625e-03 2.96199026e+01] [ 2.10530930e-01 9.77586777e-01 -9.05542783e-04 4.18870443e+00] [ 3.77461282e-03 1.13405357e-04 9.99992870e-01 1.07673510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890888479 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:29.65, Y:4.20, Z:0.11 [[ 9.77273442e-01 -2.11950892e-01 -3.66589277e-03 2.96467110e+01] [ 2.11948981e-01 9.77280312e-01 -9.06527365e-04 4.19571335e+00] [ 3.77474411e-03 1.08942881e-04 9.99992870e-01 1.07466411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:4.20, Z:0.11 [[ 9.77049927e-01 -2.12978881e-01 -3.66564463e-03 2.96747682e+01] [ 2.12976974e-01 9.77056797e-01 -9.07529640e-04 4.20131201e+00] [ 3.77482765e-03 1.06003867e-04 9.99992870e-01 1.09709700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950888479 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:29.70, Y:4.21, Z:0.11 [[ 9.76934223e-01 -2.13508987e-01 -3.66542818e-03 2.97026062e+01] [ 2.13507081e-01 9.76941094e-01 -9.08403048e-04 4.20740165e+00] [ 3.77485963e-03 1.04855158e-04 9.99992870e-01 1.07956013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:4.21, Z:0.11 [[ 9.77093938e-01 -2.12776882e-01 -3.66521388e-03 2.97297801e+01] [ 2.12774967e-01 9.77100807e-01 -9.09266854e-04 4.21359786e+00] [ 3.77475441e-03 1.08573367e-04 9.99992870e-01 1.08683064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:29.76, Y:4.22, Z:0.11 [[ 9.77113606e-01 -2.12686551e-01 -3.66496806e-03 2.97568798e+01] [ 2.12684631e-01 9.77120473e-01 -9.10256603e-04 4.22068063e+00] [ 3.77471466e-03 1.09941732e-04 9.99992870e-01 1.05644600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:29.78, Y:4.23, Z:0.11 [[ 9.77106066e-01 -2.12721192e-01 -3.66485539e-03 2.97844216e+01] [ 2.12719271e-01 9.77112932e-01 -9.10709998e-04 4.22809784e+00] [ 3.77470492e-03 1.10274895e-04 9.99992870e-01 1.05081947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070888479000004 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:29.81, Y:4.24, Z:0.11 [[ 9.77043700e-01 -2.13007462e-01 -3.66461232e-03 2.98127132e+01] [ 2.13005539e-01 9.77050566e-01 -9.11687052e-04 4.23587217e+00] [ 3.77470769e-03 1.10175367e-04 9.99992870e-01 1.06486674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:29.84, Y:4.24, Z:0.11 [[ 9.76986100e-01 -2.13271500e-01 -3.66439707e-03 2.98404409e+01] [ 2.13269576e-01 9.76992966e-01 -9.12551409e-04 4.24287131e+00] [ 3.77471137e-03 1.10045633e-04 9.99992870e-01 1.06594274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:29.87, Y:4.25, Z:0.11 [[ 9.76843874e-01 -2.13921996e-01 -3.66415018e-03 2.98668335e+01] [ 2.13920073e-01 9.76850740e-01 -9.13541640e-04 4.25235507e+00] [ 3.77475447e-03 1.08552280e-04 9.99992870e-01 1.06226273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:29.89, Y:4.26, Z:0.11 [[ 9.76676893e-01 -2.14683071e-01 -3.66407374e-03 2.98943199e+01] [ 2.14681152e-01 9.76683760e-01 -9.13848137e-04 4.26024317e+00] [ 3.77482905e-03 1.05926789e-04 9.99992870e-01 1.07860352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:29.92, Y:4.27, Z:0.11 [[ 9.76536786e-01 -2.15319486e-01 -3.66385733e-03 2.99212592e+01] [ 2.15317568e-01 9.76543654e-01 -9.14714968e-04 4.26682923e+00] [ 3.77487258e-03 1.04359964e-04 9.99992870e-01 1.08947414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:29.95, Y:4.27, Z:0.11 [[ 9.76622019e-01 -2.14932573e-01 -3.66360357e-03 2.99489712e+01] [ 2.14930649e-01 9.76628884e-01 -9.15730182e-04 4.27214512e+00] [ 3.77480131e-03 1.06901565e-04 9.99992870e-01 1.10090176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250888479000004 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:29.98, Y:4.28, Z:0.11 [[ 9.76587365e-01 -2.15089974e-01 -3.66352476e-03 2.99762160e+01] [ 2.15088050e-01 9.76594231e-01 -9.16045372e-04 4.27913133e+00] [ 3.77480932e-03 1.06617938e-04 9.99992870e-01 1.09948379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:30.00, Y:4.29, Z:0.11 [[ 9.76654544e-01 -2.14784732e-01 -3.66344811e-03 3.00032524e+01] [ 2.14782805e-01 9.76661409e-01 -9.16351817e-04 4.28714965e+00] [ 3.77476677e-03 1.08113505e-04 9.99992870e-01 1.10023217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:30.03, Y:4.30, Z:0.11 [[ 9.76880121e-01 -2.13756425e-01 -3.66320342e-03 3.00303324e+01] [ 2.13754487e-01 9.76886983e-01 -9.17328951e-04 4.29908242e+00] [ 3.77462069e-03 1.13094252e-04 9.99992870e-01 1.07545391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340888479 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:30.06, Y:4.31, Z:0.10 [[ 9.76945218e-01 -2.13458715e-01 -3.66298702e-03 3.00565390e+01] [ 2.13456772e-01 9.76952078e-01 -9.18192233e-04 4.30914645e+00] [ 3.77455892e-03 1.15134127e-04 9.99992870e-01 1.03852192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370888479 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:30.08, Y:4.32, Z:0.10 [[ 9.77007827e-01 -2.13171974e-01 -3.66273726e-03 3.00844564e+01] [ 2.13170024e-01 9.77014686e-01 -9.19187454e-04 4.31803615e+00] [ 3.77449310e-03 1.17267544e-04 9.99992870e-01 1.03738181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.11, Y:4.32, Z:0.11 [[ 9.77096484e-01 -2.12765240e-01 -3.66252043e-03 3.01116319e+01] [ 2.12763284e-01 9.77103341e-01 -9.20050625e-04 4.32490094e+00] [ 3.77441574e-03 1.19728355e-04 9.99992870e-01 1.05045370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430888479000004 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:30.14, Y:4.33, Z:0.11 [[ 9.77037048e-01 -2.13038009e-01 -3.66244367e-03 3.01404176e+01] [ 2.13036054e-01 9.77043905e-01 -9.20356085e-04 4.33083855e+00] [ 3.77443909e-03 1.18989444e-04 9.99992870e-01 1.07026357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460888479 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:30.17, Y:4.34, Z:0.11 [[ 9.76947529e-01 -2.13448151e-01 -3.66223022e-03 3.01682090e+01] [ 2.13446196e-01 9.76954386e-01 -9.21204639e-04 4.33825713e+00] [ 3.77446131e-03 1.18279485e-04 9.99992870e-01 1.08661566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490888479 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:30.19, Y:4.35, Z:0.11 [[ 9.76841247e-01 -2.13934029e-01 -3.66201517e-03 3.01948208e+01] [ 2.13932074e-01 9.76848104e-01 -9.22058721e-04 4.34609209e+00] [ 3.77449231e-03 1.17282489e-04 9.99992870e-01 1.09291963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520888479 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:30.22, Y:4.35, Z:0.11 [[ 9.76744693e-01 -2.14374425e-01 -3.66193896e-03 3.02223988e+01] [ 2.14372472e-01 9.76751551e-01 -9.22361292e-04 4.35472456e+00] [ 3.77453523e-03 1.15892588e-04 9.99992870e-01 1.08388882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:30.25, Y:4.36, Z:0.11 [[ 9.76772149e-01 -2.14249295e-01 -3.66172851e-03 3.02487884e+01] [ 2.14247338e-01 9.76779006e-01 -9.23196009e-04 4.36335687e+00] [ 3.77449363e-03 1.17236564e-04 9.99992870e-01 1.08958659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:30.28, Y:4.37, Z:0.11 [[ 9.76743323e-01 -2.14380678e-01 -3.66147542e-03 3.02765293e+01] [ 2.14378718e-01 9.76750178e-01 -9.24198693e-04 4.36943778e+00] [ 3.77447712e-03 1.17762494e-04 9.99992870e-01 1.11248192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:30.30, Y:4.38, Z:0.11 [[ 9.76746007e-01 -2.14368450e-01 -3.66121677e-03 3.03037696e+01] [ 2.14366487e-01 9.76752862e-01 -9.25222229e-04 4.37542662e+00] [ 3.77444241e-03 1.18864943e-04 9.99992870e-01 1.14358481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640888479 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:30.33, Y:4.38, Z:0.11 [[ 9.76629460e-01 -2.14898799e-01 -3.66113665e-03 3.03293599e+01] [ 2.14896838e-01 9.76636315e-01 -9.25539137e-04 4.38423237e+00] [ 3.77449626e-03 1.17142099e-04 9.99992870e-01 1.10316669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:30.36, Y:4.39, Z:0.11 [[ 9.76563671e-01 -2.15197567e-01 -3.66102737e-03 3.03556160e+01] [ 2.15195606e-01 9.76570527e-01 -9.25971206e-04 4.39360733e+00] [ 3.77451818e-03 1.16432836e-04 9.99992870e-01 1.09055169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700888479 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:30.38, Y:4.40, Z:0.11 [[ 9.76531887e-01 -2.15341758e-01 -3.66077905e-03 3.03822950e+01] [ 2.15339795e-01 9.76538741e-01 -9.26951899e-04 4.40234506e+00] [ 3.77450402e-03 1.16886677e-04 9.99992870e-01 1.06773053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730888479 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:30.41, Y:4.41, Z:0.11 [[ 9.76414925e-01 -2.15871478e-01 -3.66053070e-03 3.04098189e+01] [ 2.15869515e-01 9.76421780e-01 -9.27931606e-04 4.41029922e+00] [ 3.77453586e-03 1.15849285e-04 9.99992870e-01 1.07267249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760888479 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:30.44, Y:4.42, Z:0.11 [[ 9.76181576e-01 -2.16924255e-01 -3.66030948e-03 3.04366993e+01] [ 2.16922296e-01 9.76188432e-01 -9.28803412e-04 4.41719288e+00] [ 3.77463176e-03 1.12678044e-04 9.99992870e-01 1.10458688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:30.46, Y:4.43, Z:0.11 [[ 9.76065764e-01 -2.17444766e-01 -3.66023132e-03 3.04647317e+01] [ 2.17442809e-01 9.76072621e-01 -9.29111313e-04 4.42501443e+00] [ 3.77468197e-03 1.10982763e-04 9.99992870e-01 1.11279955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820888479000004 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:30.49, Y:4.43, Z:0.11 [[ 9.76051609e-01 -2.17508302e-01 -3.66001077e-03 3.04914522e+01] [ 2.17506343e-01 9.76058464e-01 -9.29979289e-04 4.43321927e+00] [ 3.77466271e-03 1.11632224e-04 9.99992870e-01 1.11737881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:30.52, Y:4.44, Z:0.11 [[ 9.76046103e-01 -2.17533007e-01 -3.65993282e-03 3.05180607e+01] [ 2.17531046e-01 9.76052959e-01 -9.30285982e-04 4.44081686e+00] [ 3.77465616e-03 1.11852992e-04 9.99992870e-01 1.12433321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880888479 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:30.55, Y:4.45, Z:0.11 [[ 9.76037986e-01 -2.17569427e-01 -3.65968158e-03 3.05451637e+01] [ 2.17567464e-01 9.76044841e-01 -9.31273264e-04 4.44888157e+00] [ 3.77462992e-03 1.12730442e-04 9.99992870e-01 1.11137098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:30.57, Y:4.46, Z:0.11 [[ 9.76191616e-01 -2.16879085e-01 -3.65942586e-03 3.05713726e+01] [ 2.16877113e-01 9.76198468e-01 -9.32277049e-04 4.45850392e+00] [ 3.77451731e-03 1.16435324e-04 9.99992870e-01 1.06177164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:30.60, Y:4.47, Z:0.10 [[ 9.76255044e-01 -2.16593395e-01 -3.65934671e-03 3.05993461e+01] [ 2.16591420e-01 9.76261895e-01 -9.32587641e-04 4.46658905e+00] [ 3.77447307e-03 1.17860290e-04 9.99992870e-01 1.03348392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:30.63, Y:4.47, Z:0.10 [[ 9.76336045e-01 -2.16227978e-01 -3.65911965e-03 3.06264698e+01] [ 2.16225996e-01 9.76342894e-01 -9.33477672e-04 4.47376696e+00] [ 3.77439946e-03 1.20191107e-04 9.99992870e-01 1.00979626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000888479000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.65, Y:4.48, Z:0.10 [[ 9.76596113e-01 -2.15050327e-01 -3.65903913e-03 3.06539880e+01] [ 2.15048336e-01 9.76602960e-01 -9.33793178e-04 4.47833677e+00] [ 3.77424097e-03 1.25068512e-04 9.99992870e-01 1.04866339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:30.68, Y:4.49, Z:0.11 [[ 9.76404913e-01 -2.15916783e-01 -3.65896132e-03 3.06818773e+01] [ 2.15914797e-01 9.76411762e-01 -9.34097958e-04 4.48513328e+00] [ 3.77434030e-03 1.22033946e-04 9.99992870e-01 1.06039894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:30.71, Y:4.49, Z:0.11 [[ 9.76307126e-01 -2.16358519e-01 -3.65873243e-03 3.07101632e+01] [ 2.16356532e-01 9.76313974e-01 -9.34993643e-04 4.49254795e+00] [ 3.77436544e-03 1.21250296e-04 9.99992870e-01 1.07679611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:30.74, Y:4.50, Z:0.11 [[ 9.76035115e-01 -2.17582331e-01 -3.65850367e-03 3.07363954e+01] [ 2.17580349e-01 9.76041964e-01 -9.35887880e-04 4.50217831e+00] [ 3.77448578e-03 1.17440926e-04 9.99992870e-01 1.06405758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:30.76, Y:4.51, Z:0.11 [[ 9.75904980e-01 -2.18165270e-01 -3.65842246e-03 3.07631370e+01] [ 2.18163292e-01 9.75911831e-01 -9.36205263e-04 4.50972857e+00] [ 3.77454523e-03 1.15513893e-04 9.99992870e-01 1.06751635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:30.79, Y:4.52, Z:0.11 [[ 9.75628637e-01 -2.19397768e-01 -3.65816321e-03 3.07908145e+01] [ 2.19395795e-01 9.75635489e-01 -9.37217140e-04 4.51618472e+00] [ 3.77465720e-03 1.11790255e-04 9.99992870e-01 1.06744002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180888479000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:30.82, Y:4.52, Z:0.11 [[ 9.75379451e-01 -2.20502939e-01 -3.65789844e-03 3.08175323e+01] [ 2.20500970e-01 9.75386304e-01 -9.38249394e-04 4.52071852e+00] [ 3.77475079e-03 1.08579025e-04 9.99992870e-01 1.08585032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:4.52, Z:0.11 [[ 9.74820407e-01 -2.22961419e-01 -3.65778402e-03 3.08447061e+01] [ 2.22959465e-01 9.74827265e-01 -9.38695260e-04 4.52307567e+00] [ 3.77500042e-03 9.95217292e-05 9.99992870e-01 1.11077084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:30.87, Y:4.53, Z:0.11 [[ 9.74589341e-01 -2.23969278e-01 -3.65760819e-03 3.08718387e+01] [ 2.23967328e-01 9.74596200e-01 -9.39379867e-04 4.53045339e+00] [ 3.77508328e-03 9.63248713e-05 9.99992870e-01 1.10346250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270888479 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:30.90, Y:4.54, Z:0.11 [[ 9.74485641e-01 -2.24420050e-01 -3.65735581e-03 3.08985926e+01] [ 2.24418100e-01 9.74492500e-01 -9.40361464e-04 4.53962212e+00] [ 3.77510177e-03 9.55919012e-05 9.99992870e-01 1.08985596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:30.92, Y:4.55, Z:0.11 [[ 9.74468867e-01 -2.24492877e-01 -3.65709836e-03 3.09249643e+01] [ 2.24490924e-01 9.74475725e-01 -9.41361642e-04 4.54954844e+00] [ 3.77508256e-03 9.63422226e-05 9.99992870e-01 1.09799342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:30.95, Y:4.56, Z:0.11 [[ 9.74765208e-01 -2.23202635e-01 -3.65684014e-03 3.09513430e+01] [ 2.23200669e-01 9.74772062e-01 -9.42363646e-04 4.55873887e+00] [ 3.77492365e-03 1.02374131e-04 9.99992870e-01 1.11535712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.360888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:30.98, Y:4.57, Z:0.11 [[ 9.74794081e-01 -2.23076511e-01 -3.65657641e-03 3.09777821e+01] [ 2.23074541e-01 9.74800933e-01 -9.43385885e-04 4.56543480e+00] [ 3.77488132e-03 1.03917873e-04 9.99992870e-01 1.12807039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:31.01, Y:4.57, Z:0.11 [[ 9.74753576e-01 -2.23253434e-01 -3.65646218e-03 3.10055302e+01] [ 2.23251463e-01 9.74760429e-01 -9.43828421e-04 4.57230578e+00] [ 3.77488757e-03 1.03689600e-04 9.99992870e-01 1.13493463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.03, Y:4.58, Z:0.12 [[ 9.74772536e-01 -2.23170642e-01 -3.65620536e-03 3.10327725e+01] [ 2.23168667e-01 9.74779387e-01 -9.44822211e-04 4.57936074e+00] [ 3.77485020e-03 1.05036267e-04 9.99992870e-01 1.15989530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:31.06, Y:4.59, Z:0.11 [[ 9.74518506e-01 -2.24277318e-01 -3.65594165e-03 3.10587201e+01] [ 2.24275347e-01 9.74525358e-01 -9.45841551e-04 4.58655078e+00] [ 3.77493865e-03 1.01802514e-04 9.99992870e-01 1.13481550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:31.09, Y:4.60, Z:0.11 [[ 9.73960425e-01 -2.26688608e-01 -3.65576236e-03 3.10853191e+01] [ 2.26686651e-01 9.73967282e-01 -9.46533997e-04 4.59617955e+00] [ 3.77516141e-03 9.31741270e-05 9.99992870e-01 1.08299650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:31.11, Y:4.60, Z:0.11 [[ 9.73715485e-01 -2.27738429e-01 -3.65550773e-03 3.11118787e+01] [ 2.27736476e-01 9.73722342e-01 -9.47516356e-04 4.60448739e+00] [ 3.77523544e-03 9.01189006e-05 9.99992870e-01 1.08253138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:31.14, Y:4.61, Z:0.11 [[ 9.73417147e-01 -2.29010256e-01 -3.65524817e-03 3.11382188e+01] [ 2.29008308e-01 9.73424006e-01 -9.48516616e-04 4.61253748e+00] [ 3.77532635e-03 8.62201392e-05 9.99992870e-01 1.08149052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570888479000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:31.17, Y:4.62, Z:0.11 [[ 9.73012288e-01 -2.30724352e-01 -3.65513564e-03 3.11653883e+01] [ 2.30722414e-01 9.73019150e-01 -9.48950050e-04 4.62021547e+00] [ 3.77546286e-03 8.00183405e-05 9.99992870e-01 1.08151638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.19, Y:4.63, Z:0.10 [[ 9.72222429e-01 -2.34030321e-01 -3.65487528e-03 3.11885731e+01] [ 2.34028403e-01 9.72229296e-01 -9.49951756e-04 4.63017503e+00] [ 3.77569434e-03 6.82197781e-05 9.99992870e-01 1.04072316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630888479 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:31.22, Y:4.64, Z:0.10 [[ 9.72562330e-01 -2.32613887e-01 -3.64617184e-03 3.12202363e+01] [ 2.32611834e-01 9.72569158e-01 -9.83392945e-04 4.63673758e+00] [ 3.77490514e-03 1.08268214e-04 9.99992869e-01 1.03735119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:31.25, Y:4.65, Z:0.10 [[ 9.72191355e-01 -2.34159373e-01 -3.65465859e-03 3.12465845e+01] [ 2.34157453e-01 9.72198222e-01 -9.50770838e-04 4.64694332e+00] [ 3.77568449e-03 6.85656422e-05 9.99992870e-01 1.01334103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:31.27, Y:4.65, Z:0.10 [[ 9.72045603e-01 -2.34763694e-01 -3.65439286e-03 3.12733991e+01] [ 2.34761774e-01 9.72052469e-01 -9.51791104e-04 4.65435465e+00] [ 3.77570760e-03 6.72726065e-05 9.99992870e-01 1.02368923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.30, Y:4.66, Z:0.11 [[ 9.72025451e-01 -2.34847118e-01 -3.65431076e-03 3.13016138e+01] [ 2.34845197e-01 9.72032318e-01 -9.52106202e-04 4.66166541e+00] [ 3.77570756e-03 6.72741290e-05 9.99992870e-01 1.07037843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750888479000004 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:31.33, Y:4.67, Z:0.11 [[ 9.71605921e-01 -2.36576801e-01 -3.65407730e-03 3.13288574e+01] [ 2.36574889e-01 9.71612790e-01 -9.53001349e-04 4.66974915e+00] [ 3.77580625e-03 6.14788193e-05 9.99992870e-01 1.05815023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780888479 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:31.35, Y:4.68, Z:0.11 [[ 9.71305040e-01 -2.37809102e-01 -3.65381030e-03 3.13548541e+01] [ 2.37807195e-01 9.71311911e-01 -9.54023930e-04 4.67960865e+00] [ 3.77586504e-03 5.77458701e-05 9.99992870e-01 1.07423422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810888479 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:31.38, Y:4.69, Z:0.11 [[ 9.71226662e-01 -2.38129000e-01 -3.65372765e-03 3.13806762e+01] [ 2.38127095e-01 9.71233533e-01 -9.54340357e-04 4.68802249e+00] [ 3.77587893e-03 5.68292475e-05 9.99992870e-01 1.07285274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840888479 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:31.41, Y:4.70, Z:0.11 [[ 9.71225858e-01 -2.38132284e-01 -3.65361526e-03 3.14077630e+01] [ 2.38130377e-01 9.71232728e-01 -9.54770443e-04 4.69688301e+00] [ 3.77587238e-03 5.72609625e-05 9.99992870e-01 1.06978992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:31.43, Y:4.71, Z:0.10 [[ 9.71165215e-01 -2.38379484e-01 -3.65334320e-03 3.14337534e+01] [ 2.38377575e-01 9.71172085e-01 -9.55810332e-04 4.70591102e+00] [ 3.77587051e-03 5.73746554e-05 9.99992870e-01 1.03162780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900888479 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:31.46, Y:4.72, Z:0.10 [[ 9.71166037e-01 -2.38376135e-01 -3.65325898e-03 3.14608091e+01] [ 2.38374225e-01 9.71172907e-01 -9.56132123e-04 4.71569010e+00] [ 3.77586522e-03 5.77202675e-05 9.99992870e-01 1.01071754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930888479000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.49, Y:4.72, Z:0.10 [[ 9.71381073e-01 -2.37498279e-01 -3.65775212e-03 3.14857901e+01] [ 2.37496427e-01 9.71387958e-01 -9.38953972e-04 4.72322786e+00] [ 3.77609631e-03 4.33790590e-05 9.99992870e-01 1.00691587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960888479 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:31.51, Y:4.73, Z:0.10 [[ 9.71337670e-01 -2.37675801e-01 -3.65306422e-03 3.15121783e+01] [ 2.37673883e-01 9.71344537e-01 -9.56851411e-04 4.73180769e+00] [ 3.77580440e-03 6.11878635e-05 9.99992870e-01 9.97163924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990888479 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:31.54, Y:4.74, Z:0.10 [[ 9.71273831e-01 -2.37936552e-01 -3.65280703e-03 3.15398067e+01] [ 2.37934632e-01 9.71280697e-01 -9.57832248e-04 4.73914320e+00] [ 3.77580426e-03 6.11880996e-05 9.99992870e-01 9.98239497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:31.57, Y:4.75, Z:0.10 [[ 9.71252382e-01 -2.38024092e-01 -3.65254963e-03 3.15660302e+01] [ 2.38022169e-01 9.71259248e-01 -9.58812785e-04 4.74817441e+00] [ 3.77579315e-03 6.18614167e-05 9.99992870e-01 9.96430868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050888479 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:31.59, Y:4.76, Z:0.10 [[ 9.71246644e-01 -2.38047508e-01 -3.65246994e-03 3.15934964e+01] [ 2.38045584e-01 9.71253510e-01 -9.59116252e-04 4.75541071e+00] [ 3.77578948e-03 6.20841029e-05 9.99992870e-01 1.02737649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080888479 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:31.62, Y:4.76, Z:0.10 [[ 9.71321660e-01 -2.37741232e-01 -3.65220993e-03 3.16202507e+01] [ 2.37739302e-01 9.71328524e-01 -9.60105341e-04 4.76368908e+00] [ 3.77575231e-03 6.42972745e-05 9.99992870e-01 1.04262081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110888479 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:31.65, Y:4.77, Z:0.10 [[ 9.71471072e-01 -2.37129964e-01 -3.65195032e-03 3.16468901e+01] [ 2.37128026e-01 9.71477934e-01 -9.61091808e-04 4.77319945e+00] [ 3.77569281e-03 6.76931197e-05 9.99992870e-01 1.04311376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140888479 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:31.67, Y:4.78, Z:0.10 [[ 9.71421330e-01 -2.37333654e-01 -3.65182909e-03 3.16737408e+01] [ 2.37331716e-01 9.71428192e-01 -9.61552196e-04 4.78314761e+00] [ 3.77569843e-03 6.73774498e-05 9.99992870e-01 1.04162695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170888479 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:31.70, Y:4.79, Z:0.10 [[ 9.71556967e-01 -2.36777798e-01 -3.65156678e-03 3.17004053e+01] [ 2.36775852e-01 9.71563827e-01 -9.62547308e-04 4.79291937e+00] [ 3.77564003e-03 7.05667089e-05 9.99992870e-01 1.01904001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200888479 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:31.73, Y:4.80, Z:0.10 [[ 9.71622407e-01 -2.36509120e-01 -3.65148558e-03 3.17272565e+01] [ 2.36507171e-01 9.71629266e-01 -9.62855265e-04 4.79996691e+00] [ 3.77561430e-03 7.19292257e-05 9.99992870e-01 1.01935487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230888479 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:31.76, Y:4.81, Z:0.10 [[ 9.71461367e-01 -2.37169732e-01 -3.65122704e-03 3.17556071e+01] [ 2.37167784e-01 9.71468226e-01 -9.63834652e-04 4.80693735e+00] [ 3.77564346e-03 7.03747029e-05 9.99992870e-01 1.01290762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260888479 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:31.78, Y:4.81, Z:0.10 [[ 9.71209646e-01 -2.38198433e-01 -3.65100056e-03 3.17828922e+01] [ 2.38196489e-01 9.71216506e-01 -9.64691801e-04 4.81335527e+00] [ 3.77570008e-03 6.72624681e-05 9.99992870e-01 1.02040804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290888479 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:31.81, Y:4.82, Z:0.11 [[ 9.70947739e-01 -2.39263790e-01 -3.65074160e-03 3.18106060e+01] [ 2.39261849e-01 9.70954600e-01 -9.65670828e-04 4.82062804e+00] [ 3.77575441e-03 6.41327203e-05 9.99992870e-01 1.07434418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:31.84, Y:4.83, Z:0.10 [[ 9.70668893e-01 -2.40392540e-01 -3.65050691e-03 3.18367712e+01] [ 2.40390605e-01 9.70675756e-01 -9.66557198e-04 4.82955705e+00] [ 3.77581169e-03 6.06594417e-05 9.99992870e-01 1.03078886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350888479 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:31.86, Y:4.84, Z:0.10 [[ 9.70657335e-01 -2.40439205e-01 -3.65042387e-03 3.18631442e+01] [ 2.40437269e-01 9.70664198e-01 -9.66870722e-04 4.83873934e+00] [ 3.77580938e-03 6.08022128e-05 9.99992870e-01 1.02206700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380888479 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:31.89, Y:4.85, Z:0.10 [[ 9.70271905e-01 -2.41989890e-01 -3.65016582e-03 3.18910052e+01] [ 2.41987961e-01 9.70278769e-01 -9.67843924e-04 4.84862427e+00] [ 3.77588685e-03 5.57755835e-05 9.99992870e-01 9.61613810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410888479 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:31.92, Y:4.86, Z:0.10 [[ 9.71184872e-01 -2.38299351e-01 -3.65573273e-03 3.19176969e+01] [ 2.38297475e-01 9.71191751e-01 -9.46876937e-04 4.85503902e+00] [ 3.77605763e-03 4.84406791e-05 9.99992869e-01 1.02849168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440888479 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:31.95, Y:4.86, Z:0.11 [[ 9.71489471e-01 -2.37054611e-01 -3.64945110e-03 3.19458864e+01] [ 2.37052638e-01 9.71496323e-01 -9.70498312e-04 4.86017947e+00] [ 3.77548942e-03 7.77168838e-05 9.99992870e-01 1.06239512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470888479 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:31.97, Y:4.87, Z:0.10 [[ 9.71107741e-01 -2.38613575e-01 -3.64918575e-03 3.19707221e+01] [ 2.38611609e-01 9.71114595e-01 -9.71495024e-04 4.86843966e+00] [ 3.77558944e-03 7.26882555e-05 9.99992870e-01 1.04326552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500888479000004 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:32.00, Y:4.88, Z:0.10 [[ 9.71781061e-01 -2.35856545e-01 -3.64141690e-03 3.20020514e+01] [ 2.35854450e-01 9.71787877e-01 -1.00063340e-03 4.87610424e+00] [ 3.77469073e-03 1.13552212e-04 9.99992869e-01 1.04738543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530888479 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:32.03, Y:4.89, Z:0.10 [[ 9.72017941e-01 -2.34878285e-01 -3.64888063e-03 3.20290903e+01] [ 2.34876287e-01 9.72024785e-01 -9.72632868e-04 4.88673373e+00] [ 3.77525275e-03 8.83810623e-05 9.99992870e-01 1.04047248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560888479 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:32.06, Y:4.90, Z:0.10 [[ 9.72079515e-01 -2.34623323e-01 -3.64864209e-03 3.20550895e+01] [ 2.34621320e-01 9.72086359e-01 -9.73526881e-04 4.89633868e+00] [ 3.77520731e-03 9.02963158e-05 9.99992870e-01 1.01875518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590888479 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:32.08, Y:4.90, Z:0.10 [[ 9.71925516e-01 -2.35260449e-01 -3.64855767e-03 3.20835241e+01] [ 2.35258449e-01 9.71932361e-01 -9.73843150e-04 4.90151655e+00] [ 3.77525805e-03 8.81489859e-05 9.99992870e-01 1.03442769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:32.11, Y:4.90, Z:0.11 [[ 9.72055822e-01 -2.34721433e-01 -3.65079990e-03 3.21106016e+01] [ 2.34719462e-01 9.72062674e-01 -9.65444906e-04 4.90476526e+00] [ 3.77541693e-03 8.15525545e-05 9.99992870e-01 1.08123492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650888479 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:32.14, Y:4.91, Z:0.11 [[ 9.71543434e-01 -2.36833374e-01 -3.64817719e-03 3.21396934e+01] [ 2.36831381e-01 9.71550280e-01 -9.75255781e-04 4.90959209e+00] [ 3.77536069e-03 8.35005099e-05 9.99992870e-01 1.08059221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680888479000004 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:32.16, Y:4.92, Z:0.10 [[ 9.70406207e-01 -2.41450795e-01 -3.64794590e-03 3.21632327e+01] [ 2.41448831e-01 9.70413061e-01 -9.76120149e-04 4.91890460e+00] [ 3.77569934e-03 6.64407782e-05 9.99992870e-01 1.04134192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:32.20, Y:4.93, Z:0.10 [[ 9.70821777e-01 -2.39774574e-01 -3.63752887e-03 3.21950634e+01] [ 2.39772452e-01 9.70828585e-01 -1.01497814e-03 4.92521267e+00] [ 3.77478296e-03 1.13183665e-04 9.99992869e-01 1.03505969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:32.22, Y:4.93, Z:0.10 [[ 9.70794321e-01 -2.39885559e-01 -3.64769610e-03 3.22225898e+01] [ 2.39883580e-01 9.70801171e-01 -9.77018838e-04 4.93236625e+00] [ 3.77556036e-03 7.34619376e-05 9.99992870e-01 1.03976817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.25, Y:4.94, Z:0.11 [[ 9.70792540e-01 -2.39892770e-01 -3.64747338e-03 3.22495771e+01] [ 2.39890788e-01 9.70799389e-01 -9.77849615e-04 4.93851467e+00] [ 3.77554398e-03 7.42938465e-05 9.99992870e-01 1.05948481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.800888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:32.27, Y:4.95, Z:0.10 [[ 9.69628170e-01 -2.44556557e-01 -3.64720220e-03 3.22685042e+01] [ 2.44554605e-01 9.69635028e-01 -9.78860039e-04 4.94701502e+00] [ 3.77584165e-03 5.71901756e-05 9.99992870e-01 1.00937497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830888479 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:32.30, Y:4.95, Z:0.10 [[ 9.70701061e-01 -2.40262980e-01 -3.62638185e-03 3.23041333e+01] [ 2.40260709e-01 9.70707823e-01 -1.05579399e-03 4.95023416e+00] [ 3.77382544e-03 1.53583275e-04 9.99992867e-01 1.01474911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:32.33, Y:4.96, Z:0.10 [[ 9.69886602e-01 -2.43529662e-01 -3.64446636e-03 3.23251907e+01] [ 2.43527665e-01 9.69893447e-01 -9.88847645e-04 4.95988348e+00] [ 3.77555778e-03 7.15416987e-05 9.99992870e-01 1.00028812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890888479 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:32.35, Y:4.97, Z:0.10 [[ 9.69784562e-01 -2.43935879e-01 -3.63186815e-03 3.23513962e+01] [ 2.43933709e-01 9.69791355e-01 -1.03571919e-03 4.96780659e+00] [ 3.77480341e-03 1.18489410e-04 9.99992868e-01 9.90191731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.920888479 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:32.39, Y:4.97, Z:0.10 [[ 9.70805283e-01 -2.39841466e-01 -3.62945048e-03 3.23876177e+01] [ 2.39839234e-01 9.70812057e-01 -1.04470526e-03 4.96998480e+00] [ 3.77407793e-03 1.43720764e-04 9.99992868e-01 1.00353544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.41, Y:4.98, Z:0.10 [[ 9.70531732e-01 -2.40945752e-01 -3.64709360e-03 3.24141823e+01] [ 2.40943774e-01 9.70538582e-01 -9.78977413e-04 4.97553419e+00] [ 3.77552551e-03 7.13841462e-05 9.99992870e-01 1.00804932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.44, Y:4.98, Z:0.10 [[ 9.70134798e-01 -2.42539012e-01 -3.64698092e-03 3.24430543e+01] [ 2.42537044e-01 9.70141651e-01 -9.79397014e-04 4.98014145e+00] [ 3.77563008e-03 6.56191538e-05 9.99992870e-01 1.03784385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:32.47, Y:4.99, Z:0.11 [[ 9.69725463e-01 -2.44170489e-01 -3.64675551e-03 3.24712298e+01] [ 2.44168529e-01 9.69732318e-01 -9.80235620e-04 4.98753529e+00] [ 3.77572128e-03 6.01365145e-05 9.99992870e-01 1.05049756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:32.50, Y:5.00, Z:0.11 [[ 9.69370591e-01 -2.45575571e-01 -3.64651765e-03 3.24993006e+01] [ 2.45573617e-01 9.69377448e-01 -9.81119657e-04 4.99521850e+00] [ 3.77579099e-03 5.55800121e-05 9.99992870e-01 1.06938372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:32.53, Y:5.00, Z:0.11 [[ 9.68370448e-01 -2.49490239e-01 -3.64628026e-03 3.25261859e+01] [ 2.49488309e-01 9.68377312e-01 -9.82001110e-04 5.00129578e+00] [ 3.77597477e-03 4.12365572e-05 9.99992870e-01 1.05887091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.55, Y:5.01, Z:0.11 [[ 9.68279639e-01 -2.49842440e-01 -3.64619627e-03 3.25531632e+01] [ 2.49840513e-01 9.68286504e-01 -9.82312886e-04 5.00747547e+00] [ 3.77598608e-03 4.01860231e-05 9.99992870e-01 1.09138819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:32.58, Y:5.01, Z:0.11 [[ 9.68111928e-01 -2.50491517e-01 -3.64611319e-03 3.25802992e+01] [ 2.50489593e-01 9.68118794e-01 -9.82621155e-04 5.01340542e+00] [ 3.77600896e-03 3.79738538e-05 9.99992870e-01 1.09061268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:32.61, Y:5.02, Z:0.11 [[ 9.68238331e-01 -2.50002483e-01 -3.64584703e-03 3.26078439e+01] [ 2.50000552e-01 9.68245195e-01 -9.83607712e-04 5.01952723e+00] [ 3.77597823e-03 4.09029220e-05 9.99992870e-01 1.10423649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190888479 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:32.63, Y:5.03, Z:0.10 [[ 9.68249336e-01 -2.49959863e-01 -3.64557109e-03 3.26306577e+01] [ 2.49957927e-01 9.68256198e-01 -9.84629352e-04 5.02872132e+00] [ 3.77596462e-03 4.21273222e-05 9.99992870e-01 1.03669168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:32.66, Y:5.03, Z:0.11 [[ 9.69696357e-01 -2.44286218e-01 -3.63567974e-03 3.26624557e+01] [ 2.44284105e-01 9.69703168e-01 -1.02119064e-03 5.03482569e+00] [ 3.77499296e-03 1.02106069e-04 9.99992869e-01 1.06292648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250888479000004 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:32.69, Y:5.04, Z:0.10 [[ 9.70356181e-01 -2.41651802e-01 -3.64540296e-03 3.26893021e+01] [ 2.41649805e-01 9.70363025e-01 -9.85213626e-04 5.04362916e+00] [ 3.77544289e-03 7.50972186e-05 9.99992870e-01 1.03798770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:32.72, Y:5.05, Z:0.10 [[ 9.71605854e-01 -2.36577209e-01 -3.64531764e-03 3.27156234e+01] [ 2.36575175e-01 9.71612688e-01 -9.85529196e-04 5.05214740e+00] [ 3.77499062e-03 9.51542759e-05 9.99992870e-01 1.03395632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:32.74, Y:5.06, Z:0.11 [[ 9.72025313e-01 -2.34847832e-01 -3.64504029e-03 3.27436325e+01] [ 2.34845783e-01 9.72032142e-01 -9.86553932e-04 5.05931185e+00] [ 3.77478637e-03 1.02933056e-04 9.99992870e-01 1.05104233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340888479 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:32.77, Y:5.07, Z:0.10 [[ 9.72351899e-01 -2.33491958e-01 -3.64562734e-03 3.27697915e+01] [ 2.33489907e-01 9.72358727e-01 -9.84386148e-04 5.06625821e+00] [ 3.77470381e-03 1.05952550e-04 9.99992870e-01 1.03626787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:32.80, Y:5.07, Z:0.11 [[ 9.73065177e-01 -2.30501360e-01 -3.64474411e-03 3.27981348e+01] [ 2.30499275e-01 9.73071996e-01 -9.87645594e-04 5.07317044e+00] [ 3.77425207e-03 1.20932660e-04 9.99992870e-01 1.06446381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:32.83, Y:5.08, Z:0.11 [[ 9.73313368e-01 -2.29451097e-01 -3.64450686e-03 3.28260977e+01] [ 2.29449002e-01 9.73320183e-01 -9.88520269e-04 5.08053189e+00] [ 3.77408915e-03 1.25911529e-04 9.99992870e-01 1.08190181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:5.09, Z:0.11 [[ 9.73164173e-01 -2.30083053e-01 -3.64427003e-03 3.28514071e+01] [ 2.30080959e-01 9.73170989e-01 -9.89392602e-04 5.08824733e+00] [ 3.77414034e-03 1.24364289e-04 9.99992870e-01 1.08137223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:32.88, Y:5.09, Z:0.11 [[ 9.73607499e-01 -2.28199895e-01 -3.63953490e-03 3.28803606e+01] [ 2.28197723e-01 9.73614290e-01 -1.00681492e-03 5.09294830e+00] [ 3.77325825e-03 1.49708976e-04 9.99992870e-01 1.10263727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:32.91, Y:5.10, Z:0.11 [[ 9.73923607e-01 -2.26846930e-01 -3.64390395e-03 3.29068017e+01] [ 2.26844809e-01 9.73930414e-01 -9.90745818e-04 5.09948247e+00] [ 3.77365653e-03 1.38310045e-04 9.99992870e-01 1.09479619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:32.93, Y:5.11, Z:0.11 [[ 9.74084746e-01 -2.26153999e-01 -3.64378492e-03 3.29336298e+01] [ 2.26151871e-01 9.74091551e-01 -9.91183394e-04 5.10790185e+00] [ 3.77354019e-03 1.41447846e-04 9.99992870e-01 1.08171184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:5.12, Z:0.11 [[ 9.74280652e-01 -2.25308533e-01 -3.64351802e-03 3.29612639e+01] [ 2.25306396e-01 9.74287454e-01 -9.92163559e-04 5.11682944e+00] [ 3.77337681e-03 1.45737848e-04 9.99992870e-01 1.10606314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580888479 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:32.99, Y:5.12, Z:0.10 [[ 9.73616589e-01 -2.28161047e-01 -3.64327995e-03 3.29868301e+01] [ 2.28158926e-01 9.73623396e-01 -9.93036985e-04 5.12373291e+00] [ 3.77375496e-03 1.35590441e-04 9.99992870e-01 1.03602668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:33.02, Y:5.13, Z:0.11 [[ 9.74052017e-01 -2.26294997e-01 -3.63906244e-03 3.30168080e+01] [ 2.26292805e-01 9.74058802e-01 -1.00849414e-03 5.12865918e+00] [ 3.77287798e-03 1.58832106e-04 9.99992870e-01 1.10883679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:33.04, Y:5.13, Z:0.11 [[ 9.73907425e-01 -2.26916407e-01 -3.64297263e-03 3.30443892e+01] [ 2.26914273e-01 9.73914228e-01 -9.94165827e-04 5.13450156e+00] [ 3.77353541e-03 1.41582994e-04 9.99992870e-01 1.08850007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.07, Y:5.14, Z:0.11 [[ 9.74075340e-01 -2.26194526e-01 -3.64269844e-03 3.30729858e+01] [ 2.26192383e-01 9.74082140e-01 -9.95169450e-04 5.14049886e+00] [ 3.77338938e-03 1.45419377e-04 9.99992870e-01 1.09080396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:33.10, Y:5.15, Z:0.10 [[ 9.74253112e-01 -2.25427608e-01 -3.64245718e-03 3.31001813e+01] [ 2.25425457e-01 9.74259910e-01 -9.96051721e-04 5.14741470e+00] [ 3.77323756e-03 1.49303916e-04 9.99992870e-01 1.04910409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730888479 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:33.13, Y:5.16, Z:0.11 [[ 9.73848851e-01 -2.27167670e-01 -3.64218851e-03 3.31294947e+01] [ 2.27165527e-01 9.73855651e-01 -9.97033174e-04 5.15520337e+00] [ 3.77345957e-03 1.43579938e-04 9.99992870e-01 1.07418288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:33.16, Y:5.16, Z:0.11 [[ 9.73512212e-01 -2.28605977e-01 -3.64412540e-03 3.31573299e+01] [ 2.28603871e-01 9.73519024e-01 -9.89966715e-04 5.15902656e+00] [ 3.77393771e-03 1.30683512e-04 9.99992870e-01 1.10305177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.18, Y:5.16, Z:0.11 [[ 9.73069194e-01 -2.30484450e-01 -3.64160363e-03 3.31839864e+01] [ 2.30482323e-01 9.73075999e-01 -9.99157758e-04 5.16345005e+00] [ 3.77384742e-03 1.32924372e-04 9.99992870e-01 1.11709715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:33.21, Y:5.17, Z:0.11 [[ 9.72549322e-01 -2.32668341e-01 -3.64148227e-03 3.32105858e+01] [ 2.32666227e-01 9.72556131e-01 -9.99599873e-04 5.16790027e+00] [ 3.77412115e-03 1.24910238e-04 9.99992870e-01 1.11389430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:5.17, Z:0.11 [[ 9.71776419e-01 -2.35875669e-01 -3.64136203e-03 3.32384889e+01] [ 2.35873576e-01 9.71783235e-01 -1.00003769e-03 5.17383347e+00] [ 3.77449913e-03 1.12911963e-04 9.99992870e-01 1.13554836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:5.18, Z:0.11 [[ 9.71494722e-01 -2.37033218e-01 -3.64112425e-03 3.32652968e+01] [ 2.37031130e-01 9.71501540e-01 -1.00090268e-03 5.18123060e+00] [ 3.77460500e-03 1.09311873e-04 9.99992870e-01 1.13146741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.29, Y:5.19, Z:0.11 [[ 9.71316654e-01 -2.37761861e-01 -3.64084415e-03 3.32925853e+01] [ 2.37759774e-01 9.71323471e-01 -1.00192052e-03 5.18826056e+00] [ 3.77465587e-03 1.07535802e-04 9.99992870e-01 1.12725442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.32, Y:5.20, Z:0.11 [[ 9.71250468e-01 -2.38032086e-01 -3.64056540e-03 3.33201341e+01] [ 2.38029997e-01 9.71257285e-01 -1.00293238e-03 5.19592999e+00] [ 3.77465575e-03 1.07534776e-04 9.99992870e-01 1.12832997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:33.35, Y:5.20, Z:0.11 [[ 9.70844837e-01 -2.39681144e-01 -3.64028609e-03 3.33481487e+01] [ 2.39679063e-01 9.70851656e-01 -1.00394516e-03 5.19935468e+00] [ 3.77480450e-03 1.02174613e-04 9.99992870e-01 1.11955405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000888479000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.38, Y:5.20, Z:0.12 [[ 9.70761644e-01 -2.40017872e-01 -3.64019962e-03 3.33753710e+01] [ 2.40015792e-01 9.70768464e-01 -1.00425859e-03 5.20357824e+00] [ 3.77483100e-03 1.01190328e-04 9.99992870e-01 1.16577710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:33.40, Y:5.21, Z:0.12 [[ 9.70537651e-01 -2.40922016e-01 -3.64009716e-03 3.34036363e+01] [ 2.40919941e-01 9.70544472e-01 -1.00462984e-03 5.20840333e+00] [ 3.77491362e-03 9.80590939e-05 9.99992870e-01 1.18688487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:5.21, Z:0.12 [[ 9.70330037e-01 -2.41756844e-01 -3.63982233e-03 3.34341047e+01] [ 2.41754771e-01 9.70336859e-01 -1.00562458e-03 5.21422722e+00] [ 3.77497039e-03 9.58433217e-05 9.99992870e-01 1.17536995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:5.22, Z:0.12 [[ 9.70293506e-01 -2.41903331e-01 -3.64555816e-03 3.34591773e+01] [ 2.41901337e-01 9.70300352e-01 -9.84860561e-04 5.22219360e+00] [ 3.77552742e-03 7.37384120e-05 9.99992870e-01 1.19946951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.49, Y:5.23, Z:0.12 [[ 9.70278956e-01 -2.41961775e-01 -3.63954635e-03 3.34893690e+01] [ 2.41959700e-01 9.70285778e-01 -1.00659744e-03 5.23090415e+00] [ 3.77495816e-03 9.60567735e-05 9.99992870e-01 1.16678518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:5.24, Z:0.12 [[ 9.70480914e-01 -2.41150398e-01 -3.64434759e-03 3.35178572e+01] [ 2.41148382e-01 9.70487753e-01 -9.89253266e-04 5.23856742e+00] [ 3.77535352e-03 8.12228880e-05 9.99992870e-01 1.16895146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180888479000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.55, Y:5.24, Z:0.12 [[ 9.70757201e-01 -2.40035759e-01 -3.64563979e-03 3.35450049e+01] [ 2.40033753e-01 9.70764043e-01 -9.84589558e-04 5.24345216e+00] [ 3.77539273e-03 8.07208008e-05 9.99992870e-01 1.16635918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.57, Y:5.25, Z:0.12 [[ 9.70761485e-01 -2.40018438e-01 -3.64532456e-03 3.35690095e+01] [ 2.40016428e-01 9.70768326e-01 -9.85726234e-04 5.25067766e+00] [ 3.77535810e-03 8.19672827e-05 9.99992870e-01 1.18694979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:5.26, Z:0.12 [[ 9.70755339e-01 -2.40043398e-01 -3.63848602e-03 3.35972835e+01] [ 2.40041296e-01 9.70762152e-01 -1.01035321e-03 5.25792917e+00] [ 3.77463314e-03 1.07418869e-04 9.99992870e-01 1.18920018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:33.62, Y:5.27, Z:0.12 [[ 9.70735336e-01 -2.40124282e-01 -3.63824011e-03 3.36247094e+01] [ 2.40122177e-01 9.70742148e-01 -1.01123797e-03 5.26533637e+00] [ 3.77461581e-03 1.08022292e-04 9.99992870e-01 1.18730079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:33.65, Y:5.27, Z:0.12 [[ 9.70806202e-01 -2.39837621e-01 -3.63795553e-03 3.36517141e+01] [ 2.39835510e-01 9.70813012e-01 -1.01226071e-03 5.27353098e+00] [ 3.77455276e-03 1.10198055e-04 9.99992870e-01 1.18567606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:5.28, Z:0.12 [[ 9.70766096e-01 -2.39999903e-01 -3.63782332e-03 3.36790709e+01] [ 2.39997791e-01 9.70772906e-01 -1.01273562e-03 5.28221626e+00] [ 3.77455676e-03 1.10059846e-04 9.99992870e-01 1.20739632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:5.29, Z:0.12 [[ 9.70814912e-01 -2.39802367e-01 -3.63757655e-03 3.37053795e+01] [ 2.39800251e-01 9.70821720e-01 -1.01362120e-03 5.29051459e+00] [ 3.77450709e-03 1.11746805e-04 9.99992870e-01 1.21522076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:33.73, Y:5.30, Z:0.12 [[ 9.70754848e-01 -2.40045400e-01 -3.63748928e-03 3.37324390e+01] [ 2.40043284e-01 9.70761657e-01 -1.01393428e-03 5.29831777e+00] [ 3.77452538e-03 1.11126742e-04 9.99992870e-01 1.22428019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:5.30, Z:0.12 [[ 9.70714910e-01 -2.40206859e-01 -3.63721045e-03 3.37619285e+01] [ 2.40204740e-01 9.70721717e-01 -1.01493352e-03 5.30365673e+00] [ 3.77451317e-03 1.11535905e-04 9.99992870e-01 1.20849450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:33.79, Y:5.31, Z:0.12 [[ 9.70230093e-01 -2.42157602e-01 -3.64188147e-03 3.37861522e+01] [ 2.42155560e-01 9.70236924e-01 -9.98201187e-04 5.31130610e+00] [ 3.77520988e-03 8.65829827e-05 9.99992870e-01 1.19715009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.81, Y:5.32, Z:0.12 [[ 9.70668287e-01 -2.40395217e-01 -3.63541937e-03 3.38136823e+01] [ 2.40393076e-01 9.70675088e-01 -1.02131158e-03 5.31816525e+00] [ 3.77432944e-03 1.17425121e-04 9.99992870e-01 1.23987294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:5.33, Z:0.12 [[ 9.70841548e-01 -2.39694524e-01 -3.63646003e-03 3.38392844e+01] [ 2.39692393e-01 9.70848351e-01 -1.01759268e-03 5.32709214e+00] [ 3.77436262e-03 1.16289446e-04 9.99992870e-01 1.22043304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:5.34, Z:0.12 [[ 9.70945879e-01 -2.39271556e-01 -3.63627449e-03 3.38662628e+01] [ 2.39269419e-01 9.70952681e-01 -1.01825528e-03 5.33554481e+00] [ 3.77428999e-03 1.18621485e-04 9.99992870e-01 1.22883077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.89, Y:5.35, Z:0.12 [[ 9.70865085e-01 -2.39599179e-01 -3.63598762e-03 3.38932902e+01] [ 2.39597040e-01 9.70871886e-01 -1.01927859e-03 5.34534720e+00] [ 3.77429647e-03 1.18410125e-04 9.99992870e-01 1.18794677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:33.92, Y:5.36, Z:0.12 [[ 9.70985900e-01 -2.39109094e-01 -3.63635997e-03 3.39199647e+01] [ 2.39106957e-01 9.70992702e-01 -1.01795103e-03 5.35527950e+00] [ 3.77428034e-03 1.18937134e-04 9.99992870e-01 1.17592931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.95, Y:5.37, Z:0.12 [[ 9.71136773e-01 -2.38495618e-01 -3.63432201e-03 3.39465108e+01] [ 2.38493450e-01 9.71143565e-01 -1.02520936e-03 5.36568144e+00] [ 3.77395638e-03 1.28856515e-04 9.99992870e-01 1.16168449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:33.97, Y:5.37, Z:0.12 [[ 9.71487322e-01 -2.37063660e-01 -3.63372741e-03 3.39727403e+01] [ 2.37061474e-01 9.71494108e-01 -1.02732525e-03 5.37462507e+00] [ 3.77368626e-03 1.36616682e-04 9.99992870e-01 1.15493493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:34.00, Y:5.38, Z:0.11 [[ 9.72139071e-01 -2.34376676e-01 -3.63319412e-03 3.39989138e+01] [ 2.34374463e-01 9.72145849e-01 -1.02922117e-03 5.38242801e+00] [ 3.77322001e-03 1.49018193e-04 9.99992870e-01 1.14048575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:5.39, Z:0.12 [[ 9.72542715e-01 -2.32696102e-01 -3.63208497e-03 3.40283179e+01] [ 2.32693863e-01 9.72549484e-01 -1.03316184e-03 5.38953419e+00] [ 3.77279509e-03 1.59630137e-04 9.99992870e-01 1.17239532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750888479000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:34.05, Y:5.40, Z:0.12 [[ 9.72567660e-01 -2.32591752e-01 -3.63636973e-03 3.40548206e+01] [ 2.32589569e-01 9.72574448e-01 -1.01794168e-03 5.39774125e+00] [ 3.77340512e-03 1.44235490e-04 9.99992870e-01 1.18204693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.08, Y:5.41, Z:0.12 [[ 9.72715447e-01 -2.31972967e-01 -3.63350852e-03 3.40810709e+01] [ 2.31970742e-01 9.72722220e-01 -1.02809635e-03 5.40708633e+00] [ 3.77288504e-03 1.57177535e-04 9.99992870e-01 1.20296064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:34.11, Y:5.42, Z:0.12 [[ 9.72577637e-01 -2.32550059e-01 -3.63443988e-03 3.41065984e+01] [ 2.32547851e-01 9.72584416e-01 -1.02479327e-03 5.41632500e+00] [ 3.77311533e-03 1.51509831e-04 9.99992870e-01 1.20400319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:5.43, Z:0.12 [[ 9.72207377e-01 -2.34093161e-01 -3.63424884e-03 3.41339455e+01] [ 2.34090960e-01 9.72214159e-01 -1.02547030e-03 5.42638841e+00] [ 3.77332377e-03 1.46224990e-04 9.99992870e-01 1.18110147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:5.44, Z:0.12 [[ 9.72494187e-01 -2.32898799e-01 -3.63398874e-03 3.41606264e+01] [ 2.32896587e-01 9.72500965e-01 -1.02639122e-03 5.43651921e+00] [ 3.77310284e-03 1.51815920e-04 9.99992870e-01 1.17927002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:5.44, Z:0.12 [[ 9.72468435e-01 -2.33006305e-01 -3.63373091e-03 3.41871360e+01] [ 2.33004090e-01 9.72475212e-01 -1.02730319e-03 5.44446078e+00] [ 3.77308136e-03 1.52345765e-04 9.99992870e-01 1.16438424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:5.45, Z:0.12 [[ 9.72477396e-01 -2.32968906e-01 -3.63364354e-03 3.42140880e+01] [ 2.32966690e-01 9.72484172e-01 -1.02761216e-03 5.45152748e+00] [ 3.77306251e-03 1.52811687e-04 9.99992870e-01 1.18207567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:5.46, Z:0.11 [[ 9.71407607e-01 -2.37390099e-01 -3.63336670e-03 3.42362045e+01] [ 2.37387910e-01 9.71414393e-01 -1.02859005e-03 5.46215457e+00] [ 3.77368180e-03 1.36662875e-04 9.99992870e-01 1.13684471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:34.26, Y:5.47, Z:0.11 [[ 9.70513546e-01 -2.41019397e-01 -3.62042314e-03 3.42604069e+01] [ 2.41017063e-01 9.70520284e-01 -1.07425832e-03 5.47344517e+00] [ 3.77261119e-03 1.69998500e-04 9.99992869e-01 1.13170872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:5.48, Z:0.12 [[ 9.71443735e-01 -2.37242483e-01 -3.61589667e-03 3.42941096e+01] [ 2.37240064e-01 9.71450443e-01 -1.09021937e-03 5.47868020e+00] [ 3.77131077e-03 2.01251222e-04 9.99992868e-01 1.19465758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:5.49, Z:0.12 [[ 9.70996901e-01 -2.39064462e-01 -3.63331749e-03 3.43214155e+01] [ 2.39062284e-01 9.71003690e-01 -1.02868927e-03 5.48669717e+00] [ 3.77388774e-03 1.30264914e-04 9.99992870e-01 1.19403166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:34.35, Y:5.49, Z:0.12 [[ 9.70481738e-01 -2.41147254e-01 -3.63303705e-03 3.43486775e+01] [ 2.41145087e-01 9.70488530e-01 -1.02967875e-03 5.49327507e+00] [ 3.77412499e-03 1.23195386e-04 9.99992870e-01 1.22154373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:5.50, Z:0.12 [[ 9.70249336e-01 -2.42080627e-01 -3.63274572e-03 3.43755677e+01] [ 2.42078463e-01 9.70256129e-01 -1.03070554e-03 5.50140478e+00] [ 3.77420765e-03 1.20631870e-04 9.99992870e-01 1.22651712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:5.51, Z:0.12 [[ 9.70049278e-01 -2.42881046e-01 -3.63245471e-03 3.44021584e+01] [ 2.42878884e-01 9.70056072e-01 -1.03173011e-03 5.50969434e+00] [ 3.77427244e-03 1.18582504e-04 9.99992870e-01 1.22346074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:5.52, Z:0.11 [[ 9.68313947e-01 -2.49709642e-01 -3.63236482e-03 3.44204591e+01] [ 2.49707527e-01 9.68320756e-01 -1.03204649e-03 5.52259672e+00] [ 3.77500621e-03 9.23161775e-05 9.99992870e-01 1.13232564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.200888479 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:34.46, Y:5.53, Z:0.12 [[ 9.68224133e-01 -2.50057968e-01 -3.61117752e-03 3.44579206e+01] [ 2.50055580e-01 9.68230853e-01 -1.10566610e-03 5.53027529e+00] [ 3.77293411e-03 1.67537509e-04 9.99992868e-01 1.15552047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:5.54, Z:0.12 [[ 9.68463503e-01 -2.49128890e-01 -3.63867071e-03 3.44829634e+01] [ 2.49126853e-01 9.68470336e-01 -1.00984840e-03 5.53794720e+00] [ 3.77552705e-03 7.15107325e-05 9.99992870e-01 1.20163787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.51, Y:5.55, Z:0.12 [[ 9.68288178e-01 -2.49809594e-01 -3.62909999e-03 3.45109643e+01] [ 2.49807438e-01 9.68294974e-01 -1.04314493e-03 5.54638300e+00] [ 3.77462689e-03 1.03488730e-04 9.99992871e-01 1.21026984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:34.53, Y:5.56, Z:0.12 [[ 9.66694964e-01 -2.55905604e-01 -3.62884205e-03 3.45315349e+01] [ 2.55903487e-01 9.66701772e-01 -1.04404148e-03 5.55800737e+00] [ 3.77518410e-03 8.06363084e-05 9.99992871e-01 1.15386420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:5.56, Z:0.12 [[ 9.67773946e-01 -2.51794678e-01 -3.60961115e-03 3.45671898e+01] [ 2.51792283e-01 9.67780663e-01 -1.11071250e-03 5.55988378e+00] [ 3.77298337e-03 1.66046389e-04 9.99992868e-01 1.23949194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.59, Y:5.57, Z:0.12 [[ 9.67735098e-01 -2.51943671e-01 -3.62864218e-03 3.45946204e+01] [ 2.51941524e-01 9.67741896e-01 -1.04460443e-03 5.56843624e+00] [ 3.77477054e-03 9.66947273e-05 9.99992871e-01 1.24726785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.62, Y:5.58, Z:0.13 [[ 9.67757577e-01 -2.51857316e-01 -3.62839648e-03 3.46209197e+01] [ 2.51855165e-01 9.67764374e-01 -1.04545718e-03 5.57761178e+00] [ 3.77473889e-03 9.79187152e-05 9.99992871e-01 1.25338916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:5.59, Z:0.12 [[ 9.68154037e-01 -2.50328978e-01 -3.62810203e-03 3.46467325e+01] [ 2.50326812e-01 9.68160830e-01 -1.04647803e-03 5.58805043e+00] [ 3.77455005e-03 1.04940710e-04 9.99992871e-01 1.22485373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:5.60, Z:0.12 [[ 9.68382594e-01 -2.49443358e-01 -3.62801105e-03 3.46727955e+01] [ 2.49441185e-01 9.68389384e-01 -1.04679335e-03 5.59664069e+00] [ 3.77444303e-03 1.08721083e-04 9.99992871e-01 1.21504562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:5.61, Z:0.12 [[ 9.68527700e-01 -2.48879354e-01 -3.62788045e-03 3.46993948e+01] [ 2.48877175e-01 9.68534488e-01 -1.04724578e-03 5.60532773e+00] [ 3.77436519e-03 1.11389914e-04 9.99992871e-01 1.21730997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:5.61, Z:0.12 [[ 9.68402276e-01 -2.49366942e-01 -3.62759569e-03 3.47248931e+01] [ 2.49364763e-01 9.68409064e-01 -1.04823122e-03 5.61469210e+00] [ 3.77439077e-03 1.10514962e-04 9.99992871e-01 1.24553712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:34.75, Y:5.62, Z:0.12 [[ 9.69264013e-01 -2.45996261e-01 -3.62116154e-03 3.47535695e+01] [ 2.45993975e-01 9.69270766e-01 -1.07047174e-03 5.62328195e+00] [ 3.77321807e-03 1.46785808e-04 9.99992871e-01 1.24819974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:34.78, Y:5.63, Z:0.12 [[ 9.69553549e-01 -2.44852526e-01 -3.62727556e-03 3.47789694e+01] [ 2.44850311e-01 9.69560325e-01 -1.04933723e-03 5.63223276e+00] [ 3.77379534e-03 1.29249081e-04 9.99992871e-01 1.22580624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.80, Y:5.64, Z:0.12 [[ 9.69665180e-01 -2.44410070e-01 -3.62707079e-03 3.48036736e+01] [ 2.44407850e-01 9.69671955e-01 -1.05004454e-03 5.64277745e+00] [ 3.77371029e-03 1.31707056e-04 9.99992871e-01 1.24835634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.83, Y:5.65, Z:0.12 [[ 9.70571497e-01 -2.40785892e-01 -3.62258078e-03 3.48311284e+01] [ 2.40783589e-01 9.70578244e-01 -1.06553630e-03 5.65179375e+00] [ 3.77256421e-03 1.61921163e-04 9.99992871e-01 1.24340585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:34.86, Y:5.66, Z:0.12 [[ 9.70775358e-01 -2.39962602e-01 -3.62669413e-03 3.48578174e+01] [ 2.39960346e-01 9.70782121e-01 -1.05134704e-03 5.65977293e+00] [ 3.77301379e-03 1.50359023e-04 9.99992871e-01 1.23086779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680888479000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:34.89, Y:5.67, Z:0.12 [[ 9.70787150e-01 -2.39914894e-01 -3.62656049e-03 3.48859448e+01] [ 2.39912636e-01 9.70793913e-01 -1.05180782e-03 5.66823016e+00] [ 3.77298721e-03 1.51023830e-04 9.99992871e-01 1.22394908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.91, Y:5.68, Z:0.12 [[ 9.70847797e-01 -2.39669362e-01 -3.62642882e-03 3.49134200e+01] [ 2.39667101e-01 9.70854558e-01 -1.05226158e-03 5.67731473e+00] [ 3.77292982e-03 1.52450156e-04 9.99992871e-01 1.22976878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.94, Y:5.69, Z:0.12 [[ 9.70895572e-01 -2.39475760e-01 -3.62617513e-03 3.49390737e+01] [ 2.39473494e-01 9.70902331e-01 -1.05313510e-03 5.68884410e+00] [ 3.77286222e-03 1.54111375e-04 9.99992871e-01 1.21831130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:34.97, Y:5.70, Z:0.12 [[ 9.70878319e-01 -2.39545701e-01 -3.62588425e-03 3.49666271e+01] [ 2.39543432e-01 9.70885077e-01 -1.05413565e-03 5.69825736e+00] [ 3.77283057e-03 1.54880688e-04 9.99992871e-01 1.21886621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.99, Y:5.71, Z:0.12 [[ 9.70894974e-01 -2.39478191e-01 -3.62562999e-03 3.49934453e+01] [ 2.39475917e-01 9.70901731e-01 -1.05500941e-03 5.70644929e+00] [ 3.77278218e-03 1.56052268e-04 9.99992871e-01 1.22871265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:35.02, Y:5.71, Z:0.12 [[ 9.70828432e-01 -2.39747809e-01 -3.62533736e-03 3.50208674e+01] [ 2.39745534e-01 9.70835189e-01 -1.05601402e-03 5.71452082e+00] [ 3.77278213e-03 1.56049997e-04 9.99992871e-01 1.22978805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.04, Y:5.73, Z:0.12 [[ 9.68778030e-01 -2.47903184e-01 -3.62504382e-03 3.50362123e+01] [ 2.47900962e-01 9.68784804e-01 -1.05702073e-03 5.72837527e+00] [ 3.77392617e-03 1.25366608e-04 9.99992871e-01 1.17737451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:35.08, Y:5.73, Z:0.12 [[ 9.70556252e-01 -2.40847777e-01 -3.59303233e-03 3.50766279e+01] [ 2.40845099e-01 9.70562866e-01 -1.16650269e-03 5.73262841e+00] [ 3.76821333e-03 2.66792250e-04 9.99992865e-01 1.22793056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.10, Y:5.74, Z:0.12 [[ 9.70343758e-01 -2.41701983e-01 -3.62528886e-03 3.51018043e+01] [ 2.41699722e-01 9.70350519e-01 -1.05573732e-03 5.74183348e+00] [ 3.77297473e-03 1.48196805e-04 9.99992871e-01 1.22189405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:35.13, Y:5.75, Z:0.12 [[ 9.70006774e-01 -2.43050851e-01 -3.62516356e-03 3.51286252e+01] [ 2.43048599e-01 9.70013538e-01 -1.05616737e-03 5.75117137e+00] [ 3.77316011e-03 1.43398577e-04 9.99992871e-01 1.22384629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:35.16, Y:5.76, Z:0.12 [[ 9.69392126e-01 -2.45490868e-01 -3.62487139e-03 3.51552666e+01] [ 2.45488629e-01 9.69398894e-01 -1.05716920e-03 5.75795289e+00] [ 3.77347170e-03 1.34946789e-04 9.99992871e-01 1.21384697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:35.18, Y:5.76, Z:0.13 [[ 9.68966688e-01 -2.47164760e-01 -3.62478092e-03 3.51824710e+01] [ 2.47162532e-01 9.68973459e-01 -1.05747930e-03 5.76436928e+00] [ 3.77368812e-03 1.28752184e-04 9.99992871e-01 1.25247283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.21, Y:5.77, Z:0.13 [[ 9.68642023e-01 -2.48434085e-01 -3.62448018e-03 3.52108529e+01] [ 2.48431861e-01 9.68648796e-01 -1.05850906e-03 5.77147839e+00] [ 3.77381810e-03 1.24880000e-04 9.99992871e-01 1.27382017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:35.23, Y:5.79, Z:0.12 [[ 9.65998875e-01 -2.58520866e-01 -3.62421868e-03 3.52262656e+01] [ 2.58518710e-01 9.66005670e-01 -1.05940366e-03 5.78740131e+00] [ 3.77489375e-03 8.64544108e-05 9.99992871e-01 1.18128201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.100888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:35.27, Y:5.79, Z:0.13 [[ 9.68015922e-01 -2.50863012e-01 -3.59495491e-03 3.52655682e+01] [ 2.50860431e-01 9.68022572e-01 -1.15915201e-03 5.79009103e+00] [ 3.77078586e-03 2.20245658e-04 9.99992866e-01 1.26337774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:35.29, Y:5.80, Z:0.12 [[ 9.68000672e-01 -2.50921432e-01 -3.62401063e-03 3.52933656e+01] [ 2.50919221e-01 9.68007449e-01 -1.05979488e-03 5.79942882e+00] [ 3.77399454e-03 1.16548234e-04 9.99992872e-01 1.24375973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160888479 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:35.31, Y:5.81, Z:0.11 [[ 9.65683597e-01 -2.59696090e-01 -3.62375724e-03 3.53076147e+01] [ 2.59693937e-01 9.65690392e-01 -1.06066061e-03 5.81436604e+00] [ 3.77487696e-03 8.31947714e-05 9.99992872e-01 1.13865878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:35.35, Y:5.82, Z:0.12 [[ 9.67620324e-01 -2.52384636e-01 -3.59214721e-03 3.53458945e+01] [ 2.52382036e-01 9.67626966e-01 -1.16702959e-03 5.81551560e+00] [ 3.77039884e-03 2.22648121e-04 9.99992867e-01 1.22022161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:35.37, Y:5.82, Z:0.13 [[ 9.67328088e-01 -2.53502077e-01 -3.61489360e-03 3.53736534e+01] [ 2.53499769e-01 9.67334832e-01 -1.09038395e-03 5.82288868e+00] [ 3.77322709e-03 1.38384330e-04 9.99992872e-01 1.25610967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250888479000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.40, Y:5.83, Z:0.13 [[ 9.67290713e-01 -2.53644585e-01 -3.61961695e-03 3.53998895e+01] [ 2.53642339e-01 9.67297477e-01 -1.07447220e-03 5.83005748e+00] [ 3.77378040e-03 1.21238869e-04 9.99992872e-01 1.26153527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.43, Y:5.84, Z:0.13 [[ 9.67097748e-01 -2.54379331e-01 -3.61949219e-03 3.54278165e+01] [ 2.54377088e-01 9.67104514e-01 -1.07489233e-03 5.83913331e+00] [ 3.77385763e-03 1.18810069e-04 9.99992872e-01 1.27975193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:35.46, Y:5.85, Z:0.13 [[ 9.66878632e-01 -2.55210915e-01 -3.61924388e-03 3.54554511e+01] [ 2.55208674e-01 9.66885399e-01 -1.07572775e-03 5.84786807e+00] [ 3.77393153e-03 1.16435747e-04 9.99992872e-01 1.30781548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:35.48, Y:5.86, Z:0.13 [[ 9.66663991e-01 -2.56022717e-01 -3.61898374e-03 3.54834619e+01] [ 2.56020479e-01 9.66670758e-01 -1.07660222e-03 5.85624206e+00] [ 3.77400038e-03 1.14178649e-04 9.99992872e-01 1.32421436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:35.51, Y:5.86, Z:0.13 [[ 9.66472637e-01 -2.56744129e-01 -3.61872072e-03 3.55109044e+01] [ 2.56741892e-01 9.66479405e-01 -1.07748555e-03 5.86406418e+00] [ 3.77405714e-03 1.12283098e-04 9.99992872e-01 1.33628418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:35.54, Y:5.87, Z:0.13 [[ 9.66358849e-01 -2.57172084e-01 -3.61845501e-03 3.55362274e+01] [ 2.57169847e-01 9.66365617e-01 -1.07837714e-03 5.87230999e+00] [ 3.77407900e-03 1.11541766e-04 9.99992872e-01 1.31925784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430888479000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:35.56, Y:5.88, Z:0.13 [[ 9.66267985e-01 -2.57513278e-01 -3.61832338e-03 3.55626294e+01] [ 2.57511042e-01 9.66274754e-01 -1.07881860e-03 5.88093065e+00] [ 3.77410465e-03 1.10669649e-04 9.99992872e-01 1.31524189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460888479 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:35.59, Y:5.89, Z:0.13 [[ 9.66192996e-01 -2.57794501e-01 -3.61802588e-03 3.55882526e+01] [ 2.57792264e-01 9.66199763e-01 -1.07981542e-03 5.88892954e+00] [ 3.77410623e-03 1.10611018e-04 9.99992872e-01 1.30766392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:35.62, Y:5.90, Z:0.13 [[ 9.65888195e-01 -2.58934173e-01 -3.61789695e-03 3.56158338e+01] [ 2.58931942e-01 9.65894965e-01 -1.08024724e-03 5.89696614e+00] [ 3.77422137e-03 1.06608971e-04 9.99992872e-01 1.29675369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:35.64, Y:5.90, Z:0.13 [[ 9.65738923e-01 -2.59490355e-01 -3.61763978e-03 3.56426261e+01] [ 2.59488125e-01 9.65745693e-01 -1.08110776e-03 5.90453522e+00] [ 3.77425708e-03 1.05333281e-04 9.99992872e-01 1.28368803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550888479 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:35.67, Y:5.91, Z:0.13 [[ 9.65484326e-01 -2.60436036e-01 -3.61754874e-03 3.56699487e+01] [ 2.60433811e-01 9.65491098e-01 -1.08141231e-03 5.91268719e+00] [ 3.77434984e-03 1.01954633e-04 9.99992872e-01 1.28204509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:35.70, Y:5.92, Z:0.13 [[ 9.65189746e-01 -2.61525655e-01 -3.61729596e-03 3.56974010e+01] [ 2.61523435e-01 9.65196520e-01 -1.08225722e-03 5.92036610e+00] [ 3.77443950e-03 9.85759083e-05 9.99992872e-01 1.29369035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610888479 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:35.72, Y:5.93, Z:0.13 [[ 9.65119900e-01 -2.61783298e-01 -3.61700342e-03 3.57246623e+01] [ 2.61781076e-01 9.65126673e-01 -1.08323402e-03 5.92780719e+00] [ 3.77443905e-03 9.85876577e-05 9.99992872e-01 1.29702441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640888479 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:35.75, Y:5.94, Z:0.13 [[ 9.65102504e-01 -2.61847428e-01 -3.61671243e-03 3.57519881e+01] [ 2.61845202e-01 9.65109276e-01 -1.08420470e-03 5.93533759e+00] [ 3.77441893e-03 9.93498783e-05 9.99992872e-01 1.32273192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:35.78, Y:5.94, Z:0.13 [[ 9.65087876e-01 -2.61901338e-01 -3.61661690e-03 3.57784017e+01] [ 2.61899111e-01 9.65094648e-01 -1.08452327e-03 5.94277954e+00] [ 3.77441571e-03 9.94715029e-05 9.99992872e-01 1.31804736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700888479 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:35.81, Y:5.95, Z:0.13 [[ 9.65194390e-01 -2.61508526e-01 -3.61652211e-03 3.58062475e+01] [ 2.61506296e-01 9.65201161e-01 -1.08483927e-03 5.95126119e+00] [ 3.77436606e-03 1.01337476e-04 9.99992872e-01 1.33516540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:35.83, Y:5.96, Z:0.13 [[ 9.65635594e-01 -2.59874629e-01 -3.61626492e-03 3.58335945e+01] [ 2.59872384e-01 9.65642359e-01 -1.08569595e-03 5.96066977e+00] [ 3.77416342e-03 1.08619266e-04 9.99992872e-01 1.33957316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760888479 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:35.86, Y:5.97, Z:0.13 [[ 9.65931900e-01 -2.58771114e-01 -3.61600431e-03 3.58598042e+01] [ 2.58768858e-01 9.65938661e-01 -1.08656322e-03 5.96877675e+00] [ 3.77400954e-03 1.13836764e-04 9.99992872e-01 1.32655110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790888479 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:35.89, Y:5.98, Z:0.13 [[ 9.66296238e-01 -2.57407275e-01 -3.61591198e-03 3.58880010e+01] [ 2.57405008e-01 9.66302996e-01 -1.08687040e-03 5.97643817e+00] [ 3.77383493e-03 1.19484923e-04 9.99992872e-01 1.33045163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820888479 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:35.92, Y:5.98, Z:0.13 [[ 9.67082486e-01 -2.54437403e-01 -3.61564693e-03 3.59158275e+01] [ 2.54435112e-01 9.67089236e-01 -1.08775142e-03 5.98175630e+00] [ 3.77341787e-03 1.31997815e-04 9.99992872e-01 1.34111390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.94, Y:5.99, Z:0.14 [[ 9.67375824e-01 -2.53319845e-01 -3.61555303e-03 3.59433107e+01] [ 2.53317545e-01 9.67382570e-01 -1.08806343e-03 5.98883548e+00] [ 3.77325104e-03 1.36683236e-04 9.99992872e-01 1.35594977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.97, Y:6.00, Z:0.14 [[ 9.67605365e-01 -2.52441650e-01 -3.61541377e-03 3.59706185e+01] [ 2.52439343e-01 9.67612109e-01 -1.08852597e-03 5.99610877e+00] [ 3.77310744e-03 1.40590891e-04 9.99992872e-01 1.36349708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:36.00, Y:6.00, Z:0.13 [[ 9.68025967e-01 -2.50823957e-01 -3.61511523e-03 3.59975939e+01] [ 2.50821634e-01 9.68032706e-01 -1.08951654e-03 6.00444838e+00] [ 3.77282663e-03 1.47931192e-04 9.99992872e-01 1.34022769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:36.02, Y:6.01, Z:0.13 [[ 9.67976056e-01 -2.51016506e-01 -3.61502273e-03 3.60249344e+01] [ 2.51014183e-01 9.67982795e-01 -1.08982337e-03 6.01412391e+00] [ 3.77284347e-03 1.47500947e-04 9.99992872e-01 1.33600192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:36.05, Y:6.02, Z:0.13 [[ 9.67926098e-01 -2.51209080e-01 -3.61476842e-03 3.60524756e+01] [ 2.51206755e-01 9.67932837e-01 -1.09066625e-03 6.02307847e+00] [ 3.77283831e-03 1.47630088e-04 9.99992872e-01 1.34471639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000888479000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:36.08, Y:6.03, Z:0.13 [[ 9.67761043e-01 -2.51844197e-01 -3.61450917e-03 3.60799394e+01] [ 2.51841874e-01 9.67767782e-01 -1.09152474e-03 6.03074639e+00] [ 3.77289969e-03 1.46050354e-04 9.99992872e-01 1.34736009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:36.11, Y:6.04, Z:0.14 [[ 9.67550711e-01 -2.52651062e-01 -3.61424899e-03 3.61071586e+01] [ 2.52648741e-01 9.67557451e-01 -1.09238557e-03 6.03702986e+00] [ 3.77298591e-03 1.43802978e-04 9.99992872e-01 1.35928006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.14, Y:6.04, Z:0.14 [[ 9.67107671e-01 -2.54341682e-01 -3.61394907e-03 3.61350662e+01] [ 2.54339370e-01 9.67114414e-01 -1.09337688e-03 6.04052251e+00] [ 3.77319355e-03 1.38243642e-04 9.99992872e-01 1.39652847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:36.16, Y:6.05, Z:0.14 [[ 9.66922859e-01 -2.55043382e-01 -3.61364802e-03 3.61618894e+01] [ 2.55041071e-01 9.66929602e-01 -1.09437095e-03 6.04802635e+00] [ 3.77325531e-03 1.36543630e-04 9.99992872e-01 1.40070987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:36.19, Y:6.06, Z:0.14 [[ 9.66641442e-01 -2.56107921e-01 -3.61334820e-03 3.61885013e+01] [ 2.56105613e-01 9.66648186e-01 -1.09535998e-03 6.05741604e+00] [ 3.77336685e-03 1.33421596e-04 9.99992872e-01 1.39052550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:36.22, Y:6.07, Z:0.14 [[ 9.66559468e-01 -2.56417121e-01 -3.61304429e-03 3.62156078e+01] [ 2.56414812e-01 9.66566212e-01 -1.09636154e-03 6.06534242e+00] [ 3.77337240e-03 1.33260556e-04 9.99992872e-01 1.37674259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180888479000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:36.24, Y:6.07, Z:0.14 [[ 9.66513071e-01 -2.56591952e-01 -3.61290298e-03 3.62425735e+01] [ 2.56589642e-01 9.66519815e-01 -1.09682701e-03 6.07291647e+00] [ 3.77337930e-03 1.33064157e-04 9.99992872e-01 1.36907170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.27, Y:6.08, Z:0.14 [[ 9.66561307e-01 -2.56410198e-01 -3.61260827e-03 3.62695835e+01] [ 2.56407883e-01 9.66568048e-01 -1.09779682e-03 6.08044203e+00] [ 3.77331803e-03 1.34786691e-04 9.99992872e-01 1.37464781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.30, Y:6.09, Z:0.14 [[ 9.66906849e-01 -2.55104091e-01 -3.61230673e-03 3.62971844e+01] [ 2.55101763e-01 9.66913586e-01 -1.09878816e-03 6.08670074e+00] [ 3.77309381e-03 1.40919981e-04 9.99992872e-01 1.36762548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.32, Y:6.10, Z:0.13 [[ 9.66224080e-01 -2.57678054e-01 -3.61216730e-03 3.63207139e+01] [ 2.57675743e-01 9.66230823e-01 -1.09924631e-03 6.09659905e+00] [ 3.77343904e-03 1.31350367e-04 9.99992872e-01 1.31522667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:6.10, Z:0.14 [[ 9.67265972e-01 -2.53739157e-01 -3.60266275e-03 3.63514551e+01] [ 2.53736702e-01 9.67272665e-01 -1.13043690e-03 6.10250951e+00] [ 3.77159330e-03 1.79305386e-04 9.99992871e-01 1.35744951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.38, Y:6.11, Z:0.13 [[ 9.67413043e-01 -2.53177722e-01 -3.61192208e-03 3.63770736e+01] [ 2.53175376e-01 9.67419774e-01 -1.10003423e-03 6.11117513e+00] [ 3.77274900e-03 1.49737729e-04 9.99992872e-01 1.32755222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:36.40, Y:6.12, Z:0.13 [[ 9.67726852e-01 -2.51975585e-01 -3.61171234e-03 3.64047243e+01] [ 2.51973229e-01 9.67733579e-01 -1.10072244e-03 6.11906645e+00] [ 3.77253049e-03 1.55143848e-04 9.99992872e-01 1.34234582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.43, Y:6.13, Z:0.14 [[ 9.67707376e-01 -2.52050374e-01 -3.61145564e-03 3.64319547e+01] [ 2.52048015e-01 9.67714103e-01 -1.10156402e-03 6.12515890e+00] [ 3.77250618e-03 1.55731402e-04 9.99992872e-01 1.36707115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:6.13, Z:0.14 [[ 9.67647334e-01 -2.52280788e-01 -3.61115331e-03 3.64590518e+01] [ 2.52278427e-01 9.67654060e-01 -1.10255422e-03 6.13096147e+00] [ 3.77250041e-03 1.55867571e-04 9.99992872e-01 1.38867990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:6.14, Z:0.14 [[ 9.67742701e-01 -2.51914718e-01 -3.61105958e-03 3.64865609e+01] [ 2.51912353e-01 9.67749425e-01 -1.10286111e-03 6.13657803e+00] [ 3.77242778e-03 1.57615270e-04 9.99992872e-01 1.41144104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.51, Y:6.15, Z:0.14 [[ 9.67794787e-01 -2.51714543e-01 -3.61092167e-03 3.65137712e+01] [ 2.51712175e-01 9.67801511e-01 -1.10331249e-03 6.14500307e+00] [ 3.77237524e-03 1.58867134e-04 9.99992872e-01 1.41636716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.54, Y:6.15, Z:0.14 [[ 9.67890129e-01 -2.51347690e-01 -3.61061828e-03 3.65407392e+01] [ 2.51345316e-01 9.67896850e-01 -1.10430443e-03 6.15362868e+00] [ 3.77227043e-03 1.61333363e-04 9.99992872e-01 1.41402035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.57, Y:6.16, Z:0.14 [[ 9.68101857e-01 -2.50530955e-01 -3.61031107e-03 3.65674789e+01] [ 2.50528571e-01 9.68108575e-01 -1.10530788e-03 6.16215716e+00] [ 3.77208695e-03 1.65564539e-04 9.99992872e-01 1.40570059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.59, Y:6.17, Z:0.14 [[ 9.68675672e-01 -2.48303060e-01 -3.61021579e-03 3.65941941e+01] [ 2.48300660e-01 9.68682383e-01 -1.10561902e-03 6.16992457e+00] [ 3.77168102e-03 1.74567287e-04 9.99992872e-01 1.40558735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:6.18, Z:0.14 [[ 9.68866677e-01 -2.47556720e-01 -3.61012308e-03 3.66201396e+01] [ 2.47554313e-01 9.68873386e-01 -1.10592166e-03 6.17733892e+00] [ 3.77153051e-03 1.77789105e-04 9.99992872e-01 1.40199077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.65, Y:6.18, Z:0.14 [[ 9.69012509e-01 -2.46985274e-01 -3.60999514e-03 3.66468640e+01] [ 2.46982862e-01 9.69019216e-01 -1.10633910e-03 6.18477399e+00] [ 3.77140413e-03 1.80449496e-04 9.99992872e-01 1.41681294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:6.19, Z:0.14 [[ 9.69077441e-01 -2.46730386e-01 -3.60968844e-03 3.66739849e+01] [ 2.46727969e-01 9.69084147e-01 -1.10733889e-03 6.19169521e+00] [ 3.77130599e-03 1.82486044e-04 9.99992872e-01 1.42257577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:36.70, Y:6.20, Z:0.14 [[ 9.69041041e-01 -2.46873313e-01 -3.60937949e-03 3.67002162e+01] [ 2.46870893e-01 9.69047746e-01 -1.10834500e-03 6.19956133e+00] [ 3.77128186e-03 1.82981058e-04 9.99992872e-01 1.41149098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.73, Y:6.21, Z:0.14 [[ 9.68947637e-01 -2.47239662e-01 -3.60924523e-03 3.67275648e+01] [ 2.47237242e-01 9.68954342e-01 -1.10878205e-03 6.20762167e+00] [ 3.77132873e-03 1.82011907e-04 9.99992872e-01 1.41266143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750888479000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.75, Y:6.22, Z:0.14 [[ 9.68879359e-01 -2.47507096e-01 -3.60893833e-03 3.67548719e+01] [ 2.47504675e-01 9.68886064e-01 -1.10978007e-03 6.21610548e+00] [ 3.77132849e-03 1.82013893e-04 9.99992872e-01 1.41373685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:6.22, Z:0.14 [[ 9.68809665e-01 -2.47779762e-01 -3.60863174e-03 3.67815343e+01] [ 2.47777339e-01 9.68816369e-01 -1.11077609e-03 6.22345473e+00] [ 3.77132933e-03 1.81993446e-04 9.99992872e-01 1.41038894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:36.81, Y:6.23, Z:0.14 [[ 9.68434535e-01 -2.49241912e-01 -3.60832664e-03 3.68074013e+01] [ 2.49239495e-01 9.68441241e-01 -1.11176634e-03 6.23033779e+00] [ 3.77155109e-03 1.77335407e-04 9.99992872e-01 1.40481151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:36.83, Y:6.24, Z:0.14 [[ 9.68212594e-01 -2.50102687e-01 -3.60819430e-03 3.68345940e+01] [ 2.50100275e-01 9.68219301e-01 -1.11219566e-03 6.23863770e+00] [ 3.77168649e-03 1.74431458e-04 9.99992872e-01 1.40730968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.86, Y:6.25, Z:0.14 [[ 9.67965780e-01 -2.51056231e-01 -3.60788953e-03 3.68602840e+01] [ 2.51053822e-01 9.67972489e-01 -1.11318343e-03 6.24632503e+00] [ 3.77180945e-03 1.71749012e-04 9.99992872e-01 1.39974216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.89, Y:6.25, Z:0.14 [[ 9.67600078e-01 -2.52462025e-01 -3.60768252e-03 3.68872244e+01] [ 2.52459623e-01 9.67606789e-01 -1.11385394e-03 6.25230151e+00] [ 3.77202392e-03 1.66970990e-04 9.99992872e-01 1.38626424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930888479000004 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:36.91, Y:6.26, Z:0.14 [[ 9.67345283e-01 -2.53436557e-01 -3.60754439e-03 3.69142529e+01] [ 2.53434160e-01 9.67351996e-01 -1.11430110e-03 6.25992492e+00] [ 3.77216991e-03 1.63638934e-04 9.99992872e-01 1.37683383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:36.94, Y:6.27, Z:0.14 [[ 9.67053059e-01 -2.54549340e-01 -3.60745218e-03 3.69415973e+01] [ 2.54546950e-01 9.67059775e-01 -1.11459955e-03 6.26816835e+00] [ 3.77234248e-03 1.59610954e-04 9.99992872e-01 1.37577899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.96, Y:6.28, Z:0.13 [[ 9.65170440e-01 -2.61597038e-01 -3.60715302e-03 3.69631450e+01] [ 2.61594693e-01 9.65177171e-01 -1.11556689e-03 6.28002119e+00] [ 3.77337074e-03 1.33100097e-04 9.99992872e-01 1.32022816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:6.28, Z:0.14 [[ 9.66074700e-01 -2.58237831e-01 -3.59113290e-03 3.69980199e+01] [ 2.58235271e-01 9.66081354e-01 -1.16728171e-03 6.28330535e+00] [ 3.77076283e-03 2.00324148e-04 9.99992871e-01 1.40026166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:6.29, Z:0.13 [[ 9.64323173e-01 -2.64703245e-01 -3.60711252e-03 3.70180141e+01] [ 2.64700921e-01 9.64329911e-01 -1.11561490e-03 6.29411314e+00] [ 3.77375338e-03 1.21007297e-04 9.99992872e-01 1.34971005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:6.30, Z:0.15 [[ 9.64804996e-01 -2.62941879e-01 -3.58989841e-03 3.70525778e+01] [ 2.62939336e-01 9.64811657e-01 -1.17114713e-03 6.29606801e+00] [ 3.77151946e-03 1.86003095e-04 9.99992870e-01 1.45211409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.08, Y:6.31, Z:0.14 [[ 9.63489469e-01 -2.67721935e-01 -3.60678871e-03 3.70760450e+01] [ 2.67719629e-01 9.63496213e-01 -1.11658831e-03 6.30762606e+00] [ 3.77406245e-03 1.10212945e-04 9.99992872e-01 1.40469516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.11, Y:6.31, Z:0.15 [[ 9.64186944e-01 -2.65199143e-01 -3.59877407e-03 3.71062079e+01] [ 2.65196723e-01 9.64193649e-01 -1.14243863e-03 6.31348591e+00] [ 3.77288884e-03 1.47141319e-04 9.99992872e-01 1.45849036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.13, Y:6.32, Z:0.14 [[ 9.64221984e-01 -2.65071612e-01 -3.60641096e-03 3.71336772e+01] [ 2.65069283e-01 9.64228721e-01 -1.11779935e-03 6.32123666e+00] [ 3.77370190e-03 1.21857946e-04 9.99992872e-01 1.44388440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:37.16, Y:6.33, Z:0.14 [[ 9.64238552e-01 -2.65011339e-01 -3.60614077e-03 3.71613770e+01] [ 2.65009006e-01 9.64245288e-01 -1.11867034e-03 6.32831865e+00] [ 3.77366457e-03 1.23005284e-04 9.99992872e-01 1.44820234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:37.19, Y:6.34, Z:0.14 [[ 9.63496560e-01 -2.67696425e-01 -3.60586712e-03 3.71867115e+01] [ 2.67694108e-01 9.63503301e-01 -1.11955171e-03 6.33829201e+00] [ 3.77396486e-03 1.13414837e-04 9.99992872e-01 1.39886711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.260888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:37.22, Y:6.34, Z:0.15 [[ 9.64168924e-01 -2.65264645e-01 -3.59916641e-03 3.72163945e+01] [ 2.65262230e-01 9.64175631e-01 -1.14110734e-03 6.34447106e+00] [ 3.77292398e-03 1.45497329e-04 9.99992872e-01 1.45403130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.24, Y:6.35, Z:0.15 [[ 9.63956596e-01 -2.66035112e-01 -3.60551271e-03 3.72426653e+01] [ 2.66032779e-01 9.63963331e-01 -1.12068989e-03 6.35367417e+00] [ 3.77372490e-03 1.21111844e-04 9.99992872e-01 1.45044841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:37.27, Y:6.37, Z:0.14 [[ 9.62571299e-01 -2.71004603e-01 -3.60541730e-03 3.72661412e+01] [ 2.71002303e-01 9.62578046e-01 -1.12099673e-03 6.36548813e+00] [ 3.77429082e-03 1.01962883e-04 9.99992872e-01 1.38666456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.30, Y:6.37, Z:0.14 [[ 9.63004031e-01 -2.69463003e-01 -3.59542044e-03 3.72965694e+01] [ 2.69460573e-01 9.63010732e-01 -1.15310019e-03 6.37100610e+00] [ 3.77314631e-03 1.41616080e-04 9.99992872e-01 1.43847621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.33, Y:6.37, Z:0.15 [[ 9.61785913e-01 -2.73778853e-01 -3.60515081e-03 3.73259916e+01] [ 2.73776570e-01 9.61792665e-01 -1.12183037e-03 6.37477519e+00] [ 3.77454104e-03 9.19548237e-05 9.99992872e-01 1.47021320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:6.38, Z:0.15 [[ 9.61095814e-01 -2.76191676e-01 -3.60488101e-03 3.73535700e+01] [ 2.76189407e-01 9.61102570e-01 -1.12269667e-03 6.38129628e+00] [ 3.77473988e-03 8.33891196e-05 9.99992872e-01 1.48763166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:37.37, Y:6.39, Z:0.14 [[ 9.58942492e-01 -2.83577687e-01 -3.60456827e-03 3.73736739e+01] [ 2.83575466e-01 9.58949265e-01 -1.12369986e-03 6.39335225e+00] [ 3.77525430e-03 5.53964174e-05 9.99992872e-01 1.41942580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:6.40, Z:0.15 [[ 9.59916933e-01 -2.80261723e-01 -3.58452741e-03 3.74082763e+01] [ 2.80259239e-01 9.59923616e-01 -1.18785891e-03 6.39966406e+00] [ 3.77378389e-03 1.35648961e-04 9.99992870e-01 1.49931885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500888479000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.44, Y:6.41, Z:0.15 [[ 9.59694179e-01 -2.81023289e-01 -3.60456384e-03 3.74355427e+01] [ 2.81021051e-01 9.59700946e-01 -1.12357995e-03 6.40907062e+00] [ 3.77505546e-03 6.53348175e-05 9.99992872e-01 1.50975764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:6.42, Z:0.15 [[ 9.59694602e-01 -2.81021850e-01 -3.60429468e-03 3.74622014e+01] [ 2.81019608e-01 9.59701368e-01 -1.12444271e-03 6.41774670e+00] [ 3.77503950e-03 6.62441235e-05 9.99992872e-01 1.51984069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:37.49, Y:6.43, Z:0.15 [[ 9.59705423e-01 -2.80984895e-01 -3.60419953e-03 3.74891397e+01] [ 2.80982652e-01 9.59712188e-01 -1.12474759e-03 6.42659479e+00] [ 3.77503130e-03 6.67088131e-05 9.99992872e-01 1.53285577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.52, Y:6.44, Z:0.15 [[ 9.60029671e-01 -2.79875050e-01 -3.60388747e-03 3.75161536e+01] [ 2.79872795e-01 9.60036432e-01 -1.12574661e-03 6.43530849e+00] [ 3.77493166e-03 7.21200829e-05 9.99992872e-01 1.53788717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:6.44, Z:0.15 [[ 9.60259889e-01 -2.79084145e-01 -3.60357221e-03 3.75417968e+01] [ 2.79081881e-01 9.60266647e-01 -1.12675488e-03 6.44375616e+00] [ 3.77484962e-03 7.62858053e-05 9.99992872e-01 1.53343154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.57, Y:6.45, Z:0.15 [[ 9.60345571e-01 -2.78789166e-01 -3.60343542e-03 3.75688419e+01] [ 2.78786898e-01 9.60352329e-01 -1.12719215e-03 6.45305822e+00] [ 3.77481656e-03 7.79034079e-05 9.99992872e-01 1.53248788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:6.46, Z:0.15 [[ 9.60465080e-01 -2.78377167e-01 -3.60311918e-03 3.75954108e+01] [ 2.78374893e-01 9.60471835e-01 -1.12820214e-03 6.46262110e+00] [ 3.77476020e-03 8.05808474e-05 9.99992872e-01 1.53159394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:6.47, Z:0.15 [[ 9.60866771e-01 -2.76987487e-01 -3.60280407e-03 3.76219734e+01] [ 2.76985199e-01 9.60873522e-01 -1.12920752e-03 6.47335967e+00] [ 3.77461538e-03 8.70945775e-05 9.99992872e-01 1.52543540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:37.65, Y:6.48, Z:0.15 [[ 9.60921653e-01 -2.76797034e-01 -3.60249137e-03 3.76486407e+01] [ 2.76794741e-01 9.60928402e-01 -1.13020423e-03 6.48312265e+00] [ 3.77457345e-03 8.88870572e-05 9.99992872e-01 1.52643306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:37.67, Y:6.49, Z:0.15 [[ 9.60956252e-01 -2.76676900e-01 -3.60217873e-03 3.76746523e+01] [ 2.76674602e-01 9.60962999e-01 -1.13119979e-03 6.49204836e+00] [ 3.77453733e-03 9.04021439e-05 9.99992872e-01 1.52402457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:37.70, Y:6.50, Z:0.15 [[ 9.60949040e-01 -2.76701948e-01 -3.60204326e-03 3.77011945e+01] [ 2.76699649e-01 9.60955787e-01 -1.13163101e-03 6.50148280e+00] [ 3.77452882e-03 9.07556265e-05 9.99992872e-01 1.54522007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:37.73, Y:6.51, Z:0.15 [[ 9.60906471e-01 -2.76849747e-01 -3.60173460e-03 3.77279021e+01] [ 2.76847445e-01 9.60913216e-01 -1.13261254e-03 6.51048089e+00] [ 3.77451788e-03 9.12036970e-05 9.99992872e-01 1.54140738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860888479 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:37.75, Y:6.52, Z:0.15 [[ 9.60757298e-01 -2.77366984e-01 -3.60141753e-03 3.77540288e+01] [ 2.77364682e-01 9.60764044e-01 -1.13361985e-03 6.51966401e+00] [ 3.77454119e-03 9.02275191e-05 9.99992872e-01 1.53986056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.78, Y:6.53, Z:0.16 [[ 9.60474147e-01 -2.78345908e-01 -3.60110152e-03 3.77806169e+01] [ 2.78343609e-01 9.60480894e-01 -1.13462281e-03 6.53073531e+00] [ 3.77460683e-03 8.74322831e-05 9.99992872e-01 1.55382575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.81, Y:6.54, Z:0.16 [[ 9.60242425e-01 -2.79144262e-01 -3.60082441e-03 3.78066095e+01] [ 2.79141966e-01 9.60249173e-01 -1.13550158e-03 6.54024624e+00] [ 3.77465741e-03 8.52155927e-05 9.99992872e-01 1.56015833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:37.83, Y:6.55, Z:0.16 [[ 9.59983292e-01 -2.80034132e-01 -3.60050737e-03 3.78321493e+01] [ 2.80031838e-01 9.59990040e-01 -1.13650596e-03 6.54922835e+00] [ 3.77471168e-03 8.27700325e-05 9.99992872e-01 1.56673514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:6.56, Z:0.15 [[ 9.58728542e-01 -2.84300228e-01 -3.60036994e-03 3.78540853e+01] [ 2.84297963e-01 9.58735300e-01 -1.13694117e-03 6.56170026e+00] [ 3.77503439e-03 6.64401161e-05 9.99992872e-01 1.53402196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:6.57, Z:0.16 [[ 9.59849163e-01 -2.80493696e-01 -3.58771435e-03 3.78857399e+01] [ 2.80491253e-01 9.59855860e-01 -1.17696899e-03 6.56726809e+00] [ 3.77382102e-03 1.23390202e-04 9.99992871e-01 1.58291414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:37.91, Y:6.58, Z:0.16 [[ 9.59926755e-01 -2.80227876e-01 -3.60028919e-03 3.79127349e+01] [ 2.80225581e-01 9.59933503e-01 -1.13715649e-03 6.57672064e+00] [ 3.77470116e-03 8.26938131e-05 9.99992872e-01 1.57746558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:37.94, Y:6.59, Z:0.16 [[ 9.59928987e-01 -2.80220236e-01 -3.59997602e-03 3.79395146e+01] [ 2.80217937e-01 9.59935733e-01 -1.13814704e-03 6.58633436e+00] [ 3.77467745e-03 8.37624820e-05 9.99992872e-01 1.56668105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:6.60, Z:0.16 [[ 9.59997061e-01 -2.79986938e-01 -3.59966043e-03 3.79658570e+01] [ 2.79984634e-01 9.60003806e-01 -1.13914430e-03 6.59540214e+00] [ 3.77463324e-03 8.57255680e-05 9.99992872e-01 1.56276842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:6.61, Z:0.16 [[ 9.60336258e-01 -2.78821299e-01 -3.59934698e-03 3.79916907e+01] [ 2.78818983e-01 9.60342998e-01 -1.14013385e-03 6.60504630e+00] [ 3.77450127e-03 9.13456074e-05 9.99992872e-01 1.55009954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:38.02, Y:6.62, Z:0.15 [[ 9.60327978e-01 -2.78849816e-01 -3.59920004e-03 3.80175245e+01] [ 2.78847498e-01 9.60334719e-01 -1.14059751e-03 6.61516631e+00] [ 3.77449217e-03 9.17197681e-05 9.99992872e-01 1.53460333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:38.04, Y:6.63, Z:0.15 [[ 9.60673419e-01 -2.77657395e-01 -3.59889226e-03 3.80432635e+01] [ 2.77655066e-01 9.60680156e-01 -1.14156783e-03 6.62708946e+00] [ 3.77434912e-03 9.74232000e-05 9.99992872e-01 1.50387866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.06, Y:6.64, Z:0.14 [[ 9.59475409e-01 -2.81769392e-01 -3.59858450e-03 3.80630030e+01] [ 2.81767088e-01 9.59482154e-01 -1.14253715e-03 6.64100739e+00] [ 3.77470961e-03 8.22736219e-05 9.99992872e-01 1.44220548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:38.10, Y:6.64, Z:0.15 [[ 9.61178155e-01 -2.75905281e-01 -3.58193341e-03 3.80971870e+01] [ 2.75902741e-01 9.61184816e-01 -1.19487306e-03 6.64464363e+00] [ 3.77257180e-03 1.60220638e-04 9.99992871e-01 1.51273569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.12, Y:6.65, Z:0.15 [[ 9.61586470e-01 -2.74478620e-01 -3.59831494e-03 3.81228764e+01] [ 2.74476261e-01 9.61593196e-01 -1.14331613e-03 6.65226076e+00] [ 3.77393100e-03 1.11745292e-04 9.99992872e-01 1.52055786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:6.66, Z:0.15 [[ 9.61916402e-01 -2.73320123e-01 -3.59818048e-03 3.81493628e+01] [ 2.73317755e-01 9.61923124e-01 -1.14373915e-03 6.66054287e+00] [ 3.77377993e-03 1.16734838e-04 9.99992872e-01 1.53607068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.18, Y:6.67, Z:0.15 [[ 9.62727923e-01 -2.70447779e-01 -3.59787285e-03 3.81764666e+01] [ 2.70445387e-01 9.62734637e-01 -1.14470602e-03 6.67158599e+00] [ 3.77338002e-03 1.29012331e-04 9.99992872e-01 1.54403881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:38.20, Y:6.68, Z:0.15 [[ 9.63219665e-01 -2.68691151e-01 -3.59760500e-03 3.82017096e+01] [ 2.68688744e-01 9.63226373e-01 -1.14554722e-03 6.68102820e+00] [ 3.77310642e-03 1.36777641e-04 9.99992872e-01 1.54272737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.23, Y:6.69, Z:0.15 [[ 9.63473865e-01 -2.67778210e-01 -3.59747203e-03 3.82280001e+01] [ 2.67775795e-01 9.63480571e-01 -1.14596463e-03 6.68988892e+00] [ 3.77295877e-03 1.40791042e-04 9.99992872e-01 1.54336449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430888479000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.25, Y:6.70, Z:0.15 [[ 9.63933381e-01 -2.66119330e-01 -3.59716414e-03 3.82542748e+01] [ 2.66116900e-01 9.63940081e-01 -1.14693030e-03 6.69737261e+00] [ 3.77267101e-03 1.48298236e-04 9.99992872e-01 1.52506519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.28, Y:6.71, Z:0.15 [[ 9.64017671e-01 -2.65813827e-01 -3.59703073e-03 3.82808298e+01] [ 2.65811393e-01 9.64024370e-01 -1.14734856e-03 6.70554897e+00] [ 3.77260639e-03 1.49932537e-04 9.99992872e-01 1.51764226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:6.71, Z:0.15 [[ 9.63948795e-01 -2.66063496e-01 -3.59672332e-03 3.83079290e+01] [ 2.66061060e-01 9.63955494e-01 -1.14831142e-03 6.71345455e+00] [ 3.77260495e-03 1.49965385e-04 9.99992872e-01 1.51819108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:38.33, Y:6.72, Z:0.15 [[ 9.64037264e-01 -2.65742769e-01 -3.59640209e-03 3.83338028e+01] [ 2.65740327e-01 9.64043960e-01 -1.14931659e-03 6.72047506e+00] [ 3.77251229e-03 1.52274948e-04 9.99992872e-01 1.51214995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.36, Y:6.73, Z:0.15 [[ 9.64072759e-01 -2.65613972e-01 -3.59626293e-03 3.83599294e+01] [ 2.65611528e-01 9.64079454e-01 -1.14975188e-03 6.72910681e+00] [ 3.77247336e-03 1.53235575e-04 9.99992872e-01 1.51262964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.38, Y:6.74, Z:0.15 [[ 9.62346982e-01 -2.71800211e-01 -3.59612536e-03 3.83789899e+01] [ 2.71797808e-01 9.62353692e-01 -1.15018200e-03 6.74308244e+00] [ 3.77336422e-03 1.29455187e-04 9.99992872e-01 1.45416317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:38.41, Y:6.75, Z:0.15 [[ 9.62668520e-01 -2.70659468e-01 -3.57384529e-03 3.84081938e+01] [ 2.70656799e-01 9.62675132e-01 -1.21968790e-03 6.75146253e+00] [ 3.77057206e-03 2.06869616e-04 9.99992870e-01 1.45071211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:38.43, Y:6.76, Z:0.15 [[ 9.62697233e-01 -2.70557282e-01 -3.57701869e-03 3.84343432e+01] [ 2.70554649e-01 9.62703858e-01 -1.20981850e-03 6.75981648e+00] [ 3.77093490e-03 1.96909888e-04 9.99992871e-01 1.45178928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.47, Y:6.76, Z:0.15 [[ 9.64548374e-01 -2.63881868e-01 -3.57691450e-03 3.84692003e+01] [ 2.63879188e-01 9.64554980e-01 -1.21014247e-03 6.76232178e+00] [ 3.76946536e-03 2.23367659e-04 9.99992871e-01 1.51478871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.49, Y:6.77, Z:0.15 [[ 9.63384532e-01 -2.68099460e-01 -3.59489066e-03 3.84902058e+01] [ 2.68097017e-01 9.63391228e-01 -1.15415130e-03 6.77334379e+00] [ 3.77271347e-03 1.48112044e-04 9.99992872e-01 1.45986039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.52, Y:6.78, Z:0.15 [[ 9.63210335e-01 -2.68724839e-01 -3.57941416e-03 3.85168433e+01] [ 2.68722221e-01 9.63216965e-01 -1.20228902e-03 6.78153954e+00] [ 3.77083737e-03 1.96189088e-04 9.99992871e-01 1.45741414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:6.78, Z:0.15 [[ 9.64466840e-01 -2.64179718e-01 -3.57643428e-03 3.85516138e+01] [ 2.64177034e-01 9.64473445e-01 -1.21155265e-03 6.78415899e+00] [ 3.76944352e-03 2.23690556e-04 9.99992871e-01 1.53268355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:38.58, Y:6.79, Z:0.15 [[ 9.64228926e-01 -2.65046518e-01 -3.59465391e-03 3.85787489e+01] [ 2.65044051e-01 9.64235613e-01 -1.15484072e-03 6.79303064e+00] [ 3.77217983e-03 1.60789196e-04 9.99992872e-01 1.53225835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.61, Y:6.80, Z:0.15 [[ 9.63978938e-01 -2.65954296e-01 -3.59434896e-03 3.86058361e+01] [ 2.65951832e-01 9.63985626e-01 -1.15578906e-03 6.80189383e+00] [ 3.77228780e-03 1.58232625e-04 9.99992872e-01 1.53776604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:38.63, Y:6.81, Z:0.15 [[ 9.62142927e-01 -2.72521691e-01 -3.59403947e-03 3.86262979e+01] [ 2.72519268e-01 9.62149630e-01 -1.15675065e-03 6.81205211e+00] [ 3.77324339e-03 1.33514447e-04 9.99992872e-01 1.48548509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:6.81, Z:0.15 [[ 9.63703820e-01 -2.66949767e-01 -3.57349635e-03 3.86625698e+01] [ 2.66947070e-01 9.63710419e-01 -1.22046469e-03 6.81457030e+00] [ 3.76961843e-03 2.22232108e-04 9.99992870e-01 1.53706676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:6.83, Z:0.15 [[ 9.61903437e-01 -2.73365801e-01 -3.59406896e-03 3.86822558e+01] [ 2.73363385e-01 9.61910142e-01 -1.15653281e-03 6.82680744e+00] [ 3.77332790e-03 1.29986024e-04 9.99992873e-01 1.47216708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.940888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:38.71, Y:6.84, Z:0.14 [[ 9.62301988e-01 -2.71959775e-01 -3.57279204e-03 3.87093964e+01] [ 2.71957104e-01 9.62308599e-01 -1.22253837e-03 6.83534478e+00] [ 3.77060976e-03 2.04804927e-04 9.99992870e-01 1.44640375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:6.84, Z:0.14 [[ 9.62600491e-01 -2.70901308e-01 -3.57421727e-03 3.87365741e+01] [ 2.70898647e-01 9.62607105e-01 -1.21811578e-03 6.84278918e+00] [ 3.77055610e-03 2.04308224e-04 9.99992871e-01 1.44965463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.77, Y:6.85, Z:0.15 [[ 9.64292489e-01 -2.64815426e-01 -3.57584529e-03 3.87711301e+01] [ 2.64812741e-01 9.64299093e-01 -1.21306554e-03 6.84542247e+00] [ 3.76942284e-03 2.22820600e-04 9.99992871e-01 1.51801201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:38.80, Y:6.85, Z:0.15 [[ 9.64368753e-01 -2.64537317e-01 -3.59391332e-03 3.87982195e+01] [ 2.64534839e-01 9.64375436e-01 -1.15693909e-03 6.85214867e+00] [ 3.77193529e-03 1.65000623e-04 9.99992873e-01 1.54441342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:6.86, Z:0.15 [[ 9.63424004e-01 -2.67957598e-01 -3.59360160e-03 3.88205793e+01] [ 2.67955140e-01 9.63430694e-01 -1.15790651e-03 6.86283359e+00] [ 3.77245593e-03 1.52630900e-04 9.99992873e-01 1.50470024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.85, Y:6.87, Z:0.15 [[ 9.63612957e-01 -2.67277482e-01 -3.58015191e-03 3.88481418e+01] [ 2.67274864e-01 9.63619587e-01 -1.19959541e-03 6.87175350e+00] [ 3.77052934e-03 1.99061063e-04 9.99992872e-01 1.51067572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.88, Y:6.88, Z:0.16 [[ 9.64881492e-01 -2.62661154e-01 -3.58100130e-03 3.88798083e+01] [ 2.62658514e-01 9.64888114e-01 -1.19696371e-03 6.87820013e+00] [ 3.76966146e-03 2.14347649e-04 9.99992872e-01 1.56527541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.91, Y:6.89, Z:0.16 [[ 9.64970688e-01 -2.62333110e-01 -3.59327876e-03 3.89077977e+01] [ 2.62330609e-01 9.64977362e-01 -1.15889616e-03 6.88666987e+00] [ 3.77144949e-03 1.75673820e-04 9.99992873e-01 1.57401985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:6.89, Z:0.16 [[ 9.64886798e-01 -2.62641500e-01 -3.59300514e-03 3.89355131e+01] [ 2.62638998e-01 9.64893472e-01 -1.15974386e-03 6.89364553e+00] [ 3.77146407e-03 1.75358269e-04 9.99992873e-01 1.58645761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.96, Y:6.90, Z:0.16 [[ 9.64734485e-01 -2.63200430e-01 -3.59269249e-03 3.89614263e+01] [ 2.63197928e-01 9.64741159e-01 -1.16071159e-03 6.89988471e+00] [ 3.77151811e-03 1.74189281e-04 9.99992873e-01 1.59208212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:6.91, Z:0.16 [[ 9.63775387e-01 -2.66691015e-01 -3.59247915e-03 3.89868729e+01] [ 2.66688535e-01 9.63782069e-01 -1.16137153e-03 6.90941919e+00] [ 3.77209434e-03 1.61228296e-04 9.99992873e-01 1.56604464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:39.01, Y:6.92, Z:0.15 [[ 9.63292920e-01 -2.68428557e-01 -3.58595490e-03 3.90106028e+01] [ 2.68426014e-01 9.63299579e-01 -1.18152852e-03 6.92042884e+00] [ 3.77150484e-03 1.75594476e-04 9.99992872e-01 1.52928465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:6.93, Z:0.16 [[ 9.64466671e-01 -2.64180299e-01 -3.57901333e-03 3.90422544e+01] [ 2.64177647e-01 9.64473288e-01 -1.20292825e-03 6.92684668e+00] [ 3.76965270e-03 2.14688880e-04 9.99992872e-01 1.56941386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:6.94, Z:0.15 [[ 9.63479562e-01 -2.67757792e-01 -3.59152721e-03 3.90647120e+01] [ 2.67755308e-01 9.63486242e-01 -1.16432748e-03 6.93778897e+00] [ 3.77214481e-03 1.60155250e-04 9.99992873e-01 1.50780854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:6.94, Z:0.15 [[ 9.63376089e-01 -2.68129973e-01 -3.58174062e-03 3.90925008e+01] [ 2.68127380e-01 9.63382728e-01 -1.19452478e-03 6.94364544e+00] [ 3.77087495e-03 1.90413888e-04 9.99992872e-01 1.52861783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:6.95, Z:0.15 [[ 9.63202150e-01 -2.68754139e-01 -3.58210817e-03 3.91195194e+01] [ 2.68751555e-01 9.63208792e-01 -1.19339048e-03 6.95199963e+00] [ 3.77104672e-03 1.86779133e-04 9.99992872e-01 1.53560072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420888479 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:39.15, Y:6.96, Z:0.16 [[ 9.63600479e-01 -2.67322458e-01 -3.58062431e-03 3.91507525e+01] [ 2.67319846e-01 9.63607111e-01 -1.19794940e-03 6.95923976e+00] [ 3.77055382e-03 1.97172680e-04 9.99992872e-01 1.57937367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:6.97, Z:0.15 [[ 9.62682006e-01 -2.70611227e-01 -3.59431320e-03 3.91742776e+01] [ 2.70608795e-01 9.62688706e-01 -1.15583857e-03 6.96976265e+00] [ 3.77298762e-03 1.40052225e-04 9.99992872e-01 1.53337325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:6.98, Z:0.15 [[ 9.62721680e-01 -2.70470210e-01 -3.58232342e-03 3.92031926e+01] [ 2.70467640e-01 9.62728328e-01 -1.19279124e-03 6.97900375e+00] [ 3.77141873e-03 1.79423423e-04 9.99992872e-01 1.53879038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:6.99, Z:0.15 [[ 9.62776720e-01 -2.70274176e-01 -3.58559761e-03 3.92305406e+01] [ 2.70271641e-01 9.62783382e-01 -1.18270143e-03 6.98791422e+00] [ 3.77180744e-03 1.69592054e-04 9.99992872e-01 1.53696474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:6.99, Z:0.16 [[ 9.63667170e-01 -2.67081868e-01 -3.58626039e-03 3.92590734e+01] [ 2.67079319e-01 9.63673826e-01 -1.18065967e-03 6.99388911e+00] [ 3.77131806e-03 1.79946981e-04 9.99992872e-01 1.58718090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:7.00, Z:0.16 [[ 9.63800966e-01 -2.66598579e-01 -3.59114348e-03 3.92857076e+01] [ 2.66596082e-01 9.63807642e-01 -1.16561535e-03 7.00130223e+00] [ 3.77192292e-03 1.66036415e-04 9.99992872e-01 1.60277785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:7.01, Z:0.16 [[ 9.63850352e-01 -2.66419979e-01 -3.59083776e-03 3.93125341e+01] [ 2.66417477e-01 9.63857026e-01 -1.16655640e-03 7.01048830e+00] [ 3.77184814e-03 1.67723858e-04 9.99992872e-01 1.60560151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:7.02, Z:0.16 [[ 9.63957006e-01 -2.66033829e-01 -3.59053270e-03 3.93386132e+01] [ 2.66031322e-01 9.63963678e-01 -1.16749459e-03 7.01981114e+00] [ 3.77173616e-03 1.70220430e-04 9.99992872e-01 1.60404775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:39.36, Y:7.03, Z:0.16 [[ 9.64066857e-01 -2.65635474e-01 -3.59022763e-03 3.93639770e+01] [ 2.65632961e-01 9.64073527e-01 -1.16843196e-03 7.02944808e+00] [ 3.77162040e-03 1.72763735e-04 9.99992872e-01 1.59480871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:39.39, Y:7.04, Z:0.16 [[ 9.63981250e-01 -2.65945975e-01 -3.59009504e-03 3.93906285e+01] [ 2.65943462e-01 9.63987919e-01 -1.16883924e-03 7.03949211e+00] [ 3.77165633e-03 1.71976804e-04 9.99992872e-01 1.57610694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:39.42, Y:7.05, Z:0.16 [[ 9.63840178e-01 -2.66456799e-01 -3.58979553e-03 3.94173966e+01] [ 2.66454286e-01 9.63846847e-01 -1.16975837e-03 7.04754703e+00] [ 3.77170318e-03 1.70943714e-04 9.99992872e-01 1.57100084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.45, Y:7.06, Z:0.16 [[ 9.63601935e-01 -2.67317087e-01 -3.58970272e-03 3.94454746e+01] [ 2.67314580e-01 9.63608607e-01 -1.17004311e-03 7.05619137e+00] [ 3.77184095e-03 1.67875933e-04 9.99992872e-01 1.58090565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:7.06, Z:0.16 [[ 9.63480190e-01 -2.67755558e-01 -3.58942299e-03 3.94727709e+01] [ 2.67753050e-01 9.63486862e-01 -1.17090064e-03 7.06479064e+00] [ 3.77187705e-03 1.67060616e-04 9.99992872e-01 1.56542602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:7.07, Z:0.16 [[ 9.63347316e-01 -2.68233233e-01 -3.58914463e-03 3.94996116e+01] [ 2.68230725e-01 9.63353987e-01 -1.17175328e-03 7.07418425e+00] [ 3.77191996e-03 1.66086510e-04 9.99992872e-01 1.56968833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840888479 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:39.53, Y:7.08, Z:0.16 [[ 9.62843115e-01 -2.70037507e-01 -3.58881894e-03 3.95265735e+01] [ 2.70035008e-01 9.62849790e-01 -1.17274992e-03 7.08338638e+00] [ 3.77218003e-03 1.60067437e-04 9.99992872e-01 1.56746480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.55, Y:7.09, Z:0.16 [[ 9.62471361e-01 -2.71359554e-01 -3.58761326e-03 3.95538158e+01] [ 2.71357051e-01 9.62478035e-01 -1.17643714e-03 7.09120628e+00] [ 3.77223642e-03 1.58762897e-04 9.99992872e-01 1.58316604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:7.10, Z:0.16 [[ 9.61968342e-01 -2.73137386e-01 -3.58842886e-03 3.95807693e+01] [ 2.73134904e-01 9.61975024e-01 -1.17394409e-03 7.09939241e+00] [ 3.77262695e-03 1.49171873e-04 9.99992872e-01 1.59886013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:7.11, Z:0.16 [[ 9.61327882e-01 -2.75383058e-01 -3.58811877e-03 3.96082247e+01] [ 2.75380588e-01 9.61334568e-01 -1.17489110e-03 7.10760861e+00] [ 3.77292771e-03 1.41357314e-04 9.99992872e-01 1.62776955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:39.63, Y:7.12, Z:0.16 [[ 9.61205843e-01 -2.75808729e-01 -3.58783800e-03 3.96339644e+01] [ 2.75806259e-01 9.61212529e-01 -1.17574787e-03 7.11569065e+00] [ 3.77295636e-03 1.40587548e-04 9.99992872e-01 1.62895878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:39.66, Y:7.12, Z:0.16 [[ 9.60992555e-01 -2.76550967e-01 -3.58769878e-03 3.96604700e+01] [ 2.76548500e-01 9.60999242e-01 -1.17617255e-03 7.12439877e+00] [ 3.77304746e-03 1.38120348e-04 9.99992872e-01 1.63991680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:7.13, Z:0.16 [[ 9.61018432e-01 -2.76461035e-01 -3.58736908e-03 3.96860689e+01] [ 2.76458564e-01 9.61025118e-01 -1.17717727e-03 7.13266971e+00] [ 3.77299544e-03 1.39530151e-04 9.99992872e-01 1.64593242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:7.14, Z:0.16 [[ 9.61366946e-01 -2.75246667e-01 -3.58722649e-03 3.97111830e+01] [ 2.75244186e-01 9.61373627e-01 -1.17761165e-03 7.14285421e+00] [ 3.77279862e-03 1.44753679e-04 9.99992872e-01 1.63942474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:39.74, Y:7.15, Z:0.16 [[ 9.61578177e-01 -2.74507820e-01 -3.58708728e-03 3.97375188e+01] [ 2.74505332e-01 9.61584856e-01 -1.17803554e-03 7.15192243e+00] [ 3.77266877e-03 1.48098681e-04 9.99992872e-01 1.61340244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:39.76, Y:7.16, Z:0.16 [[ 9.61916519e-01 -2.73319861e-01 -3.58674167e-03 3.97635267e+01] [ 2.73317361e-01 9.61923193e-01 -1.17908686e-03 7.16250026e+00] [ 3.77243786e-03 1.53864356e-04 9.99992872e-01 1.62603322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:7.17, Z:0.16 [[ 9.62640348e-01 -2.70759481e-01 -3.58663491e-03 3.97900406e+01] [ 2.70756962e-01 9.62647016e-01 -1.17941152e-03 7.17245940e+00] [ 3.77200024e-03 1.64242744e-04 9.99992872e-01 1.62165415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:39.82, Y:7.18, Z:0.16 [[ 9.63088923e-01 -2.69159553e-01 -3.58631573e-03 3.98156892e+01] [ 2.69157019e-01 9.63095585e-01 -1.18038128e-03 7.18239974e+00] [ 3.77167574e-03 1.71530082e-04 9.99992872e-01 1.60988967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:39.84, Y:7.19, Z:0.16 [[ 9.63414005e-01 -2.67993645e-01 -3.58621693e-03 3.98420843e+01] [ 2.67991102e-01 9.63420664e-01 -1.18068138e-03 7.19367977e+00] [ 3.77145060e-03 1.76410753e-04 9.99992872e-01 1.59612153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:39.87, Y:7.21, Z:0.16 [[ 9.64001389e-01 -2.65873023e-01 -3.58591134e-03 3.98680793e+01] [ 2.65870462e-01 9.64008040e-01 -1.18160877e-03 7.20620998e+00] [ 3.77100526e-03 1.85684592e-04 9.99992872e-01 1.57483954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:39.89, Y:7.22, Z:0.16 [[ 9.63978156e-01 -2.65957247e-01 -3.58562429e-03 3.98945402e+01] [ 2.65954684e-01 9.63984807e-01 -1.18247920e-03 7.21578972e+00] [ 3.77097625e-03 1.86270542e-04 9.99992872e-01 1.57555613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:39.92, Y:7.22, Z:0.16 [[ 9.63820572e-01 -2.66527768e-01 -3.58529271e-03 3.99212756e+01] [ 2.66525204e-01 9.63827223e-01 -1.18348370e-03 7.22482507e+00] [ 3.77103398e-03 1.85095062e-04 9.99992872e-01 1.57703919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:39.95, Y:7.23, Z:0.16 [[ 9.63341389e-01 -2.68254571e-01 -3.58518997e-03 3.99474022e+01] [ 2.68252018e-01 9.63348044e-01 -1.18379485e-03 7.23400451e+00] [ 3.77134412e-03 1.78664135e-04 9.99992872e-01 1.58910490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:39.98, Y:7.24, Z:0.16 [[ 9.62883709e-01 -2.69892778e-01 -3.58487102e-03 3.99750028e+01] [ 2.69890233e-01 9.62890367e-01 -1.18475992e-03 7.24353876e+00] [ 3.77159592e-03 1.73264353e-04 9.99992872e-01 1.60449579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:40.00, Y:7.25, Z:0.16 [[ 9.61893152e-01 -2.73402113e-01 -3.58458790e-03 4.00008897e+01] [ 2.73399590e-01 9.61899817e-01 -1.18561592e-03 7.25441463e+00] [ 3.77216434e-03 1.60410973e-04 9.99992872e-01 1.61117892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:40.03, Y:7.26, Z:0.16 [[ 9.61162602e-01 -2.75959425e-01 -3.58443772e-03 4.00275485e+01] [ 2.75956918e-01 9.61169274e-01 -1.18606978e-03 7.26472185e+00] [ 3.77255853e-03 1.50855529e-04 9.99992872e-01 1.61451251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.05, Y:7.27, Z:0.16 [[ 9.60493801e-01 -2.78278300e-01 -3.58415335e-03 4.00537304e+01] [ 2.78275805e-01 9.60500478e-01 -1.18692847e-03 7.27442478e+00] [ 3.77287745e-03 1.42654278e-04 9.99992872e-01 1.60238595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.08, Y:7.28, Z:0.16 [[ 9.59707409e-01 -2.80978367e-01 -3.58405306e-03 4.00802843e+01] [ 2.80975890e-01 9.59714093e-01 -1.18723125e-03 7.28325164e+00] [ 3.77325253e-03 1.32362131e-04 9.99992872e-01 1.61942339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.11, Y:7.29, Z:0.16 [[ 9.58237542e-01 -2.85950991e-01 -3.58371901e-03 4.01070475e+01] [ 2.85948545e-01 9.58244237e-01 -1.18823875e-03 7.28955479e+00] [ 3.77385613e-03 1.13855744e-04 9.99992872e-01 1.63580114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.13, Y:7.30, Z:0.16 [[ 9.58160977e-01 -2.86207444e-01 -3.58354996e-03 4.01341564e+01] [ 2.86204998e-01 9.58167671e-01 -1.18874833e-03 7.29864394e+00] [ 3.77387035e-03 1.13382352e-04 9.99992872e-01 1.63687845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.16, Y:7.31, Z:0.17 [[ 9.57183244e-01 -2.89460530e-01 -3.58323155e-03 4.01612374e+01] [ 2.89458103e-01 9.57189945e-01 -1.18970735e-03 7.30650260e+00] [ 3.77420653e-03 1.01572534e-04 9.99992872e-01 1.65112131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.19, Y:7.31, Z:0.17 [[ 9.56342626e-01 -2.92225844e-01 -3.58290591e-03 4.01878735e+01] [ 2.92223433e-01 9.56349334e-01 -1.19068724e-03 7.31473645e+00] [ 3.77445926e-03 9.16958962e-05 9.99992872e-01 1.65682183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:7.32, Z:0.17 [[ 9.55480951e-01 -2.95031041e-01 -3.58280507e-03 4.02144250e+01] [ 2.95028648e-01 9.55487665e-01 -1.19099057e-03 7.32426775e+00] [ 3.77470524e-03 8.09386708e-05 9.99992872e-01 1.65472838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.24, Y:7.34, Z:0.16 [[ 9.54108076e-01 -2.99441053e-01 -3.58248135e-03 4.02401711e+01] [ 2.99438688e-01 9.54114800e-01 -1.19196353e-03 7.33530076e+00] [ 3.77502129e-03 6.45285110e-05 9.99992872e-01 1.64445741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:7.34, Z:0.16 [[ 9.53544184e-01 -3.01231899e-01 -3.58215086e-03 4.02670667e+01] [ 3.01229542e-01 9.53550911e-01 -1.19295593e-03 7.34440435e+00] [ 3.77511959e-03 5.84865247e-05 9.99992873e-01 1.63675038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:40.29, Y:7.35, Z:0.16 [[ 9.52278369e-01 -3.05209894e-01 -3.58181499e-03 4.02945029e+01] [ 3.05207562e-01 9.52285104e-01 -1.19396350e-03 7.35071367e+00] [ 3.77531853e-03 4.37885912e-05 9.99992873e-01 1.63770788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:40.32, Y:7.36, Z:0.16 [[ 9.51664480e-01 -3.07118690e-01 -3.58171138e-03 4.03214826e+01] [ 3.07116370e-01 9.51671219e-01 -1.19427423e-03 7.35861336e+00] [ 3.77539558e-03 3.65461623e-05 9.99992873e-01 1.63356430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:7.37, Z:0.16 [[ 9.50908601e-01 -3.09451134e-01 -3.58160870e-03 4.03478518e+01] [ 3.09448830e-01 9.50915346e-01 -1.19458209e-03 7.36771623e+00] [ 3.77547146e-03 2.76137610e-05 9.99992873e-01 1.62312155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:7.38, Z:0.16 [[ 9.50214759e-01 -3.11575167e-01 -3.58150776e-03 4.03743090e+01] [ 3.11572877e-01 9.50221508e-01 -1.19488465e-03 7.37781585e+00] [ 3.77552209e-03 1.94963575e-05 9.99992873e-01 1.61777927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:7.39, Z:0.16 [[ 9.49784176e-01 -3.12885272e-01 -3.58117625e-03 4.03995595e+01] [ 3.12882987e-01 9.49790928e-01 -1.19587738e-03 7.38697968e+00] [ 3.77554114e-03 1.53362870e-05 9.99992873e-01 1.61092657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:7.39, Z:0.16 [[ 9.49217132e-01 -3.14601355e-01 -3.58103259e-03 4.04274818e+01] [ 3.14599081e-01 9.49223887e-01 -1.19630742e-03 7.39480269e+00] [ 3.77556161e-03 8.96593393e-06 9.99992873e-01 1.64064557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.45, Y:7.40, Z:0.17 [[ 9.49021544e-01 -3.15190873e-01 -3.58074344e-03 4.04537963e+01] [ 3.15188600e-01 9.49028300e-01 -1.19717227e-03 7.40285280e+00] [ 3.77556463e-03 7.53276046e-06 9.99992873e-01 1.66363361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.48, Y:7.41, Z:0.17 [[ 9.48734215e-01 -3.16054693e-01 -3.58064105e-03 4.04803609e+01] [ 3.16052425e-01 9.48740971e-01 -1.19747844e-03 7.41374190e+00] [ 3.77556955e-03 4.41847780e-06 9.99992873e-01 1.68266593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.51, Y:7.42, Z:0.17 [[ 9.48759428e-01 -3.15979001e-01 -3.58035674e-03 4.05066633e+01] [ 3.15976729e-01 9.48766183e-01 -1.19832789e-03 7.42459811e+00] [ 3.77556785e-03 5.61546922e-06 9.99992873e-01 1.68620862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:7.44, Z:0.17 [[ 9.48816790e-01 -3.15806718e-01 -3.58002949e-03 4.05314426e+01] [ 3.15804441e-01 9.48823544e-01 -1.19930478e-03 7.43518995e+00] [ 3.77556477e-03 7.33129755e-06 9.99992873e-01 1.67509214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:40.56, Y:7.45, Z:0.17 [[ 9.48848711e-01 -3.15710799e-01 -3.57988801e-03 4.05577803e+01] [ 3.15708519e-01 9.48855464e-01 -1.19972693e-03 7.44556117e+00] [ 3.77556305e-03 8.15821091e-06 9.99992873e-01 1.65977217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:7.45, Z:0.16 [[ 9.49003371e-01 -3.15245600e-01 -3.57956707e-03 4.05846454e+01] [ 3.15243314e-01 9.49010122e-01 -1.20068375e-03 7.45498306e+00] [ 3.77555565e-03 1.10183409e-05 9.99992873e-01 1.64800309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:7.46, Z:0.17 [[ 9.48994952e-01 -3.15270947e-01 -3.57928826e-03 4.06113104e+01] [ 3.15268658e-01 9.49001702e-01 -1.20151431e-03 7.46379286e+00] [ 3.77555320e-03 1.17936071e-05 9.99992873e-01 1.65717261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.64, Y:7.47, Z:0.17 [[ 9.48981750e-01 -3.15310686e-01 -3.57895548e-03 4.06376726e+01] [ 3.15308394e-01 9.48988499e-01 -1.20250476e-03 7.47332262e+00] [ 3.77555018e-03 1.26803650e-05 9.99992873e-01 1.66194629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:7.49, Z:0.17 [[ 9.49022093e-01 -3.15189245e-01 -3.57861576e-03 4.06627558e+01] [ 3.15186948e-01 9.49028840e-01 -1.20351489e-03 7.48589947e+00] [ 3.77554451e-03 1.42292367e-05 9.99992873e-01 1.65904459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.69, Y:7.50, Z:0.17 [[ 9.49081048e-01 -3.15011681e-01 -3.57845704e-03 4.06877136e+01] [ 3.15009380e-01 9.49087794e-01 -1.20398663e-03 7.49724975e+00] [ 3.77553975e-03 1.54333565e-05 9.99992873e-01 1.65572881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:40.71, Y:7.51, Z:0.17 [[ 9.49347099e-01 -3.14208977e-01 -3.57831353e-03 4.07136244e+01] [ 3.14206670e-01 9.49353842e-01 -1.20441299e-03 7.50877228e+00] [ 3.77552308e-03 1.90759992e-05 9.99992873e-01 1.66014694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.74, Y:7.52, Z:0.17 [[ 9.49361980e-01 -3.14164017e-01 -3.57798091e-03 4.07402889e+01] [ 3.14161705e-01 9.49368722e-01 -1.20540032e-03 7.51756674e+00] [ 3.77551657e-03 2.02966499e-05 9.99992873e-01 1.65973663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:40.77, Y:7.53, Z:0.17 [[ 9.49197902e-01 -3.14659407e-01 -3.57764861e-03 4.07669987e+01] [ 3.14657095e-01 9.49204645e-01 -1.20638578e-03 7.52613099e+00] [ 3.77552131e-03 1.93663339e-05 9.99992873e-01 1.66246672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:40.79, Y:7.54, Z:0.17 [[ 9.48898945e-01 -3.15559812e-01 -3.57731242e-03 4.07936659e+01] [ 3.15557503e-01 9.48905688e-01 -1.20738187e-03 7.53612407e+00] [ 3.77553330e-03 1.68356097e-05 9.99992873e-01 1.65724145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:40.82, Y:7.55, Z:0.16 [[ 9.48723198e-01 -3.16087802e-01 -3.57697567e-03 4.08178773e+01] [ 3.16085492e-01 9.48729941e-01 -1.20837871e-03 7.54897328e+00] [ 3.77553768e-03 1.57867984e-05 9.99992873e-01 1.62460184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340888479 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:40.84, Y:7.56, Z:0.16 [[ 9.48698750e-01 -3.16161175e-01 -3.57674666e-03 4.08442120e+01] [ 3.16158864e-01 9.48705492e-01 -1.20905619e-03 7.55971538e+00] [ 3.77553582e-03 1.62099336e-05 9.99992873e-01 1.62530235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370888479 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:40.87, Y:7.57, Z:0.16 [[ 9.48690917e-01 -3.16184683e-01 -3.57641710e-03 4.08699970e+01] [ 3.16182368e-01 9.48697658e-01 -1.21003025e-03 7.56950642e+00] [ 3.77553155e-03 1.71446806e-05 9.99992873e-01 1.63082862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:40.89, Y:7.58, Z:0.16 [[ 9.48924211e-01 -3.15483838e-01 -3.57618832e-03 4.08949190e+01] [ 3.15481515e-01 9.48930950e-01 -1.21070600e-03 7.57908567e+00] [ 3.77551396e-03 2.06469308e-05 9.99992873e-01 1.62911756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430888479000004 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:40.92, Y:7.59, Z:0.16 [[ 9.49869065e-01 -3.12627528e-01 -3.57604339e-03 4.09205340e+01] [ 3.12625183e-01 9.49875796e-01 -1.21113394e-03 7.59058225e+00] [ 3.77543087e-03 3.24574404e-05 9.99992873e-01 1.64356180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460888479 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:40.95, Y:7.60, Z:0.16 [[ 9.50557367e-01 -3.10528432e-01 -3.57571067e-03 4.09464112e+01] [ 3.10526069e-01 9.50564091e-01 -1.21211547e-03 7.60049014e+00] [ 3.77533847e-03 4.18339086e-05 9.99992873e-01 1.64693688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490888479 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:40.97, Y:7.61, Z:0.16 [[ 9.51339546e-01 -3.08123815e-01 -3.57537169e-03 4.09719377e+01] [ 3.08121431e-01 9.51346263e-01 -1.21311451e-03 7.61060901e+00] [ 3.77520597e-03 5.24351691e-05 9.99992873e-01 1.64139579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520888479 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:41.00, Y:7.62, Z:0.16 [[ 9.52984039e-01 -3.02999406e-01 -3.57522468e-03 4.09977293e+01] [ 3.02996984e-01 9.52990742e-01 -1.21354761e-03 7.62347324e+00] [ 3.77486023e-03 7.32092090e-05 9.99992873e-01 1.61171969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:41.02, Y:7.63, Z:0.16 [[ 9.53647687e-01 -3.00904152e-01 -3.57492955e-03 4.10228970e+01] [ 3.00901712e-01 9.53654384e-01 -1.21441640e-03 7.63463508e+00] [ 3.77467018e-03 8.24229707e-05 9.99992873e-01 1.59039234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580888479 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:41.05, Y:7.65, Z:0.16 [[ 9.54292320e-01 -2.98853456e-01 -3.57478309e-03 4.10486758e+01] [ 2.98851001e-01 9.54299011e-01 -1.21484739e-03 7.64518223e+00] [ 3.77447331e-03 9.09920288e-05 9.99992873e-01 1.58185750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610888479 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:41.07, Y:7.66, Z:0.16 [[ 9.55475080e-01 -2.95050158e-01 -3.57444597e-03 4.10742018e+01] [ 2.95047672e-01 9.55481760e-01 -1.21583849e-03 7.65640210e+00] [ 3.77405126e-03 1.07071413e-04 9.99992873e-01 1.57552890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640888479 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:41.10, Y:7.67, Z:0.16 [[ 9.56081594e-01 -2.93078847e-01 -3.57410479e-03 4.10997543e+01] [ 2.93076344e-01 9.56088268e-01 -1.21684059e-03 7.66634087e+00] [ 3.77378990e-03 1.15913325e-04 9.99992873e-01 1.57027995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670888479 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:41.13, Y:7.68, Z:0.16 [[ 9.56592834e-01 -2.91405863e-01 -3.57395680e-03 4.11258084e+01] [ 2.91403346e-01 9.56599502e-01 -1.21727508e-03 7.67636062e+00] [ 3.77356640e-03 1.22973648e-04 9.99992873e-01 1.57158328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700888479 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:41.15, Y:7.69, Z:0.16 [[ 9.57008935e-01 -2.90036426e-01 -3.57361067e-03 4.11510025e+01] [ 2.90033896e-01 9.57015598e-01 -1.21829039e-03 7.68542892e+00] [ 3.77334975e-03 1.29446561e-04 9.99992873e-01 1.57214179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730888479 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:41.18, Y:7.69, Z:0.16 [[ 9.57649450e-01 -2.87914504e-01 -3.57346072e-03 4.11777672e+01] [ 2.87911957e-01 9.57656107e-01 -1.21873007e-03 7.69218434e+00] [ 3.77303655e-03 1.38274114e-04 9.99992873e-01 1.59045169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760888479 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:41.20, Y:7.70, Z:0.16 [[ 9.57742893e-01 -2.87603515e-01 -3.57331678e-03 4.12048453e+01] [ 2.87600965e-01 9.57749549e-01 -1.21915196e-03 7.70099107e+00] [ 3.77297492e-03 1.39944769e-04 9.99992873e-01 1.60498577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790888479 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:41.22, Y:7.72, Z:0.15 [[ 9.55683789e-01 -2.94373453e-01 -3.57302392e-03 4.12208870e+01] [ 2.94370947e-01 9.55690461e-01 -1.22000966e-03 7.71784510e+00] [ 3.77384333e-03 1.14149024e-04 9.99992873e-01 1.53978229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.820888479 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:41.26, Y:7.72, Z:0.16 [[ 9.57529046e-01 -2.88315032e-01 -3.54511557e-03 4.12579737e+01] [ 2.88312181e-01 9.57535583e-01 -1.30157177e-03 7.72348982e+00] [ 3.76983701e-03 2.24192772e-04 9.99992869e-01 1.58944133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850888479 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:41.28, Y:7.73, Z:0.16 [[ 9.57284535e-01 -2.89125497e-01 -3.57307252e-03 4.12841790e+01] [ 2.89122955e-01 9.57291194e-01 -1.21967085e-03 7.73214285e+00] [ 3.77310880e-03 1.34514757e-04 9.99992873e-01 1.57996812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880888479 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:41.31, Y:7.74, Z:0.16 [[ 9.57113915e-01 -2.89689816e-01 -3.57273717e-03 4.13109177e+01] [ 2.89687275e-01 9.57120574e-01 -1.22065238e-03 7.73676319e+00] [ 3.77315081e-03 1.33326879e-04 9.99992873e-01 1.58878914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910888479 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:41.34, Y:7.74, Z:0.16 [[ 9.56962750e-01 -2.90188786e-01 -3.57259181e-03 4.13377113e+01] [ 2.90186247e-01 9.56969410e-01 -1.22107768e-03 7.74390328e+00] [ 3.77320412e-03 1.31808842e-04 9.99992873e-01 1.60573499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940888479 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:41.36, Y:7.75, Z:0.16 [[ 9.56796101e-01 -2.90737787e-01 -3.57225511e-03 4.13643909e+01] [ 2.90735248e-01 9.56802760e-01 -1.22206189e-03 7.75227996e+00] [ 3.77324312e-03 1.30683576e-04 9.99992873e-01 1.60923527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970888479 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:41.39, Y:7.76, Z:0.16 [[ 9.56680769e-01 -2.91117067e-01 -3.57191725e-03 4.13913000e+01] [ 2.91114527e-01 9.56687429e-01 -1.22304861e-03 7.76163094e+00] [ 3.77325866e-03 1.30230080e-04 9.99992873e-01 1.60999739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:41.42, Y:7.77, Z:0.16 [[ 9.56668315e-01 -2.91157997e-01 -3.57158126e-03 4.14174092e+01] [ 2.91155454e-01 9.56674973e-01 -1.22402900e-03 7.77336174e+00] [ 3.77322824e-03 1.31104400e-04 9.99992873e-01 1.59705297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030888479 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:41.44, Y:7.78, Z:0.16 [[ 9.56692332e-01 -2.91079074e-01 -3.57123462e-03 4.14424797e+01] [ 2.91076527e-01 9.56698989e-01 -1.22503952e-03 7.78287131e+00] [ 3.77317992e-03 1.32483350e-04 9.99992873e-01 1.58378638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060888479 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:41.46, Y:7.79, Z:0.15 [[ 9.55710935e-01 -2.94285331e-01 -3.57108363e-03 4.14640856e+01] [ 2.94282804e-01 9.55717599e-01 -1.22547950e-03 7.79472844e+00] [ 3.77358812e-03 1.20295660e-04 9.99992873e-01 1.54488670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:41.50, Y:7.80, Z:0.16 [[ 9.56398467e-01 -2.92043346e-01 -3.55745848e-03 4.14972837e+01] [ 2.92040656e-01 9.56405068e-01 -1.26512995e-03 7.79706877e+00] [ 3.77184411e-03 1.71045839e-04 9.99992872e-01 1.59569604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:41.52, Y:7.80, Z:0.16 [[ 9.56156885e-01 -2.92833162e-01 -3.57094641e-03 4.15247679e+01] [ 2.92830623e-01 9.56163544e-01 -1.22583876e-03 7.80416825e+00] [ 3.77337502e-03 1.26411708e-04 9.99992873e-01 1.61246951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150888479 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:41.55, Y:7.81, Z:0.16 [[ 9.55383521e-01 -2.95346539e-01 -3.57060159e-03 4.15511431e+01] [ 2.95344015e-01 9.55390186e-01 -1.22684232e-03 7.81353011e+00] [ 3.77366135e-03 1.17549130e-04 9.99992873e-01 1.61183064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180888479000004 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:41.58, Y:7.82, Z:0.16 [[ 9.55008495e-01 -2.96556957e-01 -3.57025704e-03 4.15759655e+01] [ 2.96554437e-01 9.55015161e-01 -1.22784420e-03 7.82376298e+00] [ 3.77377534e-03 1.13826074e-04 9.99992873e-01 1.60123887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:41.60, Y:7.83, Z:0.16 [[ 9.54617292e-01 -2.97813836e-01 -3.57010785e-03 4.16016258e+01] [ 2.97811323e-01 9.54623961e-01 -1.22827782e-03 7.83417037e+00] [ 3.77390863e-03 1.09316709e-04 9.99992873e-01 1.59083375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240888479 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:41.63, Y:7.84, Z:0.16 [[ 9.54472098e-01 -2.98278847e-01 -3.56976031e-03 4.16286108e+01] [ 2.98276334e-01 9.54478767e-01 -1.22928706e-03 7.84225731e+00] [ 3.77393075e-03 1.08545186e-04 9.99992873e-01 1.59954865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270888479 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:41.65, Y:7.85, Z:0.16 [[ 9.54415107e-01 -2.98461157e-01 -3.56941507e-03 4.16545255e+01] [ 2.98458641e-01 9.54421776e-01 -1.23028870e-03 7.84934231e+00] [ 3.77392086e-03 1.08883354e-04 9.99992873e-01 1.61308800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300888479 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:41.68, Y:7.86, Z:0.16 [[ 9.54181962e-01 -2.99205688e-01 -3.56926539e-03 4.16814073e+01] [ 2.99203176e-01 9.54188632e-01 -1.23072280e-03 7.85697261e+00] [ 3.77399172e-03 1.06397959e-04 9.99992873e-01 1.62156121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:41.71, Y:7.87, Z:0.16 [[ 9.53993633e-01 -2.99805621e-01 -3.56891902e-03 4.17074258e+01] [ 2.99803109e-01 9.54000303e-01 -1.23172639e-03 7.86529325e+00] [ 3.77402832e-03 1.05086112e-04 9.99992873e-01 1.62719539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:41.73, Y:7.88, Z:0.16 [[ 9.53509285e-01 -3.01342509e-01 -3.56876883e-03 4.17341421e+01] [ 3.01340007e-01 9.53515958e-01 -1.23216140e-03 7.87541101e+00] [ 3.77418064e-03 9.94645142e-05 9.99992873e-01 1.62111796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:41.76, Y:7.89, Z:0.16 [[ 9.53167364e-01 -3.02422292e-01 -3.56842325e-03 4.17607731e+01] [ 3.02419793e-01 9.53174039e-01 -1.23316142e-03 7.88567175e+00] [ 3.77426390e-03 9.62474032e-05 9.99992873e-01 1.62286923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:41.79, Y:7.90, Z:0.16 [[ 9.53082874e-01 -3.02688461e-01 -3.56807885e-03 4.17877670e+01] [ 3.02685960e-01 9.53089548e-01 -1.23415710e-03 7.89508915e+00] [ 3.77426377e-03 9.62466272e-05 9.99992873e-01 1.62394463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:41.81, Y:7.90, Z:0.16 [[ 9.53011731e-01 -3.02912383e-01 -3.56773393e-03 4.18135712e+01] [ 3.02909880e-01 9.53018404e-01 -1.23515342e-03 7.90394358e+00] [ 3.77425936e-03 9.64138427e-05 9.99992873e-01 1.63371184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480888479 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:41.84, Y:7.91, Z:0.17 [[ 9.52496200e-01 -3.04529574e-01 -3.56758445e-03 4.18396627e+01] [ 3.04527081e-01 9.52502877e-01 -1.23558502e-03 7.91229268e+00] [ 3.77440663e-03 9.04639621e-05 9.99992873e-01 1.65569599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510888479 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:41.87, Y:7.92, Z:0.17 [[ 9.52054682e-01 -3.05907103e-01 -3.56743717e-03 4.18659473e+01] [ 3.05904618e-01 9.52061362e-01 -1.23601009e-03 7.92167446e+00] [ 3.77452336e-03 8.54536860e-05 9.99992873e-01 1.65941914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:41.89, Y:7.93, Z:0.17 [[ 9.51651673e-01 -3.07158542e-01 -3.56709165e-03 4.18917857e+01] [ 3.07156062e-01 9.51658354e-01 -1.23700647e-03 7.93151963e+00] [ 3.77460967e-03 8.15454526e-05 9.99992873e-01 1.65697414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:41.92, Y:7.94, Z:0.17 [[ 9.51173707e-01 -3.08635478e-01 -3.56674424e-03 4.19177019e+01] [ 3.08633005e-01 9.51180391e-01 -1.23800736e-03 7.94079792e+00] [ 3.77471017e-03 7.67450555e-05 9.99992873e-01 1.66287766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600888479 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:41.94, Y:7.95, Z:0.17 [[ 9.51133955e-01 -3.08757961e-01 -3.56659374e-03 4.19441213e+01] [ 3.08755487e-01 9.51140639e-01 -1.23844078e-03 7.94938687e+00] [ 3.77471070e-03 7.67176879e-05 9.99992873e-01 1.66807431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630888479 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:41.97, Y:7.96, Z:0.17 [[ 9.51273198e-01 -3.08328696e-01 -3.56624568e-03 4.19692269e+01] [ 3.08326216e-01 9.51279879e-01 -1.23944226e-03 7.95875003e+00] [ 3.77465337e-03 7.94811724e-05 9.99992873e-01 1.67368400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:42.00, Y:7.97, Z:0.17 [[ 9.52212230e-01 -3.05416358e-01 -3.56609474e-03 4.19953015e+01] [ 3.05413855e-01 9.52218903e-01 -1.23987638e-03 7.97152767e+00] [ 3.77438135e-03 9.14907067e-05 9.99992873e-01 1.66543839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690888479 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:42.02, Y:7.98, Z:0.17 [[ 9.52663486e-01 -3.04005866e-01 -3.56579729e-03 4.20207448e+01] [ 3.04003350e-01 9.52670155e-01 -1.24073123e-03 7.98239224e+00] [ 3.77421823e-03 9.79850120e-05 9.99992873e-01 1.65946384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720888479 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:42.05, Y:7.99, Z:0.16 [[ 9.53907592e-01 -3.00079313e-01 -3.56545535e-03 4.20460987e+01] [ 3.00076766e-01 9.53914248e-01 -1.24171309e-03 7.99389485e+00] [ 3.77375107e-03 1.14569237e-04 9.99992873e-01 1.64136598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750888479 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:42.07, Y:8.00, Z:0.16 [[ 9.54417346e-01 -2.98454051e-01 -3.56510671e-03 4.20723809e+01] [ 2.98451488e-01 9.54423996e-01 -1.24271328e-03 8.00396812e+00] [ 3.77351620e-03 1.22055705e-04 9.99992873e-01 1.64464660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780888479 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:42.10, Y:8.01, Z:0.16 [[ 9.54766206e-01 -2.97336144e-01 -3.56499881e-03 4.20989345e+01] [ 2.97333573e-01 9.54772853e-01 -1.24302271e-03 8.01415521e+00] [ 3.77335967e-03 1.26802243e-04 9.99992873e-01 1.64332983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810888479 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:42.13, Y:8.02, Z:0.16 [[ 9.54804934e-01 -2.97211762e-01 -3.56467027e-03 4.21251065e+01] [ 2.97209186e-01 9.54811579e-01 -1.24396419e-03 8.02428736e+00] [ 3.77330924e-03 1.28290398e-04 9.99992873e-01 1.63082356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840888479 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:42.15, Y:8.04, Z:0.16 [[ 9.53571171e-01 -3.01146670e-01 -3.56432159e-03 4.21497264e+01] [ 3.01144119e-01 9.53577826e-01 -1.24496246e-03 8.03571623e+00] [ 3.77377433e-03 1.13785828e-04 9.99992873e-01 1.60567056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870888479 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:42.18, Y:8.05, Z:0.16 [[ 9.52699190e-01 -3.03894025e-01 -3.56016843e-03 4.21757032e+01] [ 3.03891447e-01 9.52705835e-01 -1.25684183e-03 8.04583770e+00] [ 3.77373996e-03 1.15487452e-04 9.99992873e-01 1.57628753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900888479 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:42.20, Y:8.05, Z:0.16 [[ 9.52567879e-01 -3.04305403e-01 -3.55776463e-03 4.22049595e+01] [ 3.04302804e-01 9.52574515e-01 -1.26371113e-03 8.05360627e+00] [ 3.77359004e-03 1.21132879e-04 9.99992873e-01 1.57971197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930888479000004 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:42.23, Y:8.06, Z:0.16 [[ 9.50472327e-01 -3.10788763e-01 -3.56371498e-03 4.22307182e+01] [ 3.10786272e-01 9.50479005e-01 -1.24670197e-03 8.06314023e+00] [ 3.77469723e-03 7.74020268e-05 9.99992873e-01 1.56619581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960888479 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:42.26, Y:8.07, Z:0.16 [[ 9.50047305e-01 -3.12085628e-01 -3.56089495e-03 4.22575545e+01] [ 3.12083116e-01 9.50053975e-01 -1.25475551e-03 8.07063947e+00] [ 3.77463356e-03 8.07819008e-05 9.99992873e-01 1.58160252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990888479 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:42.28, Y:8.08, Z:0.16 [[ 9.49224021e-01 -3.14580770e-01 -3.56324633e-03 4.22844995e+01] [ 3.14578301e-01 9.49230707e-01 -1.24804216e-03 8.07977153e+00] [ 3.77495290e-03 6.37516259e-05 9.99992873e-01 1.57964020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020888479 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:42.31, Y:8.09, Z:0.16 [[ 9.48344394e-01 -3.17222659e-01 -3.56288952e-03 4.23114528e+01] [ 3.17220204e-01 9.48351086e-01 -1.24905995e-03 8.08928293e+00] [ 3.77510026e-03 5.43184597e-05 9.99992873e-01 1.58004127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050888479 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:42.34, Y:8.10, Z:0.16 [[ 9.46932047e-01 -3.21414073e-01 -3.56255749e-03 4.23375539e+01] [ 3.21411645e-01 9.46938748e-01 -1.25000623e-03 8.09664929e+00] [ 3.77529332e-03 3.86234913e-05 9.99992873e-01 1.58891314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080888479 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:42.36, Y:8.10, Z:0.16 [[ 9.46341992e-01 -3.23147247e-01 -3.56240405e-03 4.23632767e+01] [ 3.23144829e-01 9.46348697e-01 -1.25044337e-03 8.10431620e+00] [ 3.77535376e-03 3.21746273e-05 9.99992873e-01 1.59598424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110888479 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:42.39, Y:8.11, Z:0.16 [[ 9.45932548e-01 -3.24343838e-01 -3.56225198e-03 4.23905630e+01] [ 3.24341427e-01 9.45939255e-01 -1.25087644e-03 8.11286218e+00] [ 3.77538805e-03 2.78588523e-05 9.99992873e-01 1.59740884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140888479 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:42.42, Y:8.12, Z:0.16 [[ 9.46036174e-01 -3.24041464e-01 -3.56191584e-03 4.24167251e+01] [ 3.24039048e-01 9.46042879e-01 -1.25183288e-03 8.12208686e+00] [ 3.77537087e-03 3.00793662e-05 9.99992873e-01 1.58447643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170888479 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:42.44, Y:8.13, Z:0.16 [[ 9.46544433e-01 -3.22553796e-01 -3.56156653e-03 4.24421841e+01] [ 3.22551365e-01 9.46551133e-01 -1.25282590e-03 8.13134940e+00] [ 3.77530859e-03 3.70672379e-05 9.99992873e-01 1.58472073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200888479 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:42.47, Y:8.14, Z:0.16 [[ 9.47345116e-01 -3.20194547e-01 -3.56141505e-03 4.24677744e+01] [ 3.20192098e-01 9.47351809e-01 -1.25325637e-03 8.14017211e+00] [ 3.77519885e-03 4.69293393e-05 9.99992873e-01 1.58066394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230888479 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:42.49, Y:8.15, Z:0.16 [[ 9.49115440e-01 -3.14908240e-01 -3.56126633e-03 4.24945178e+01] [ 3.14905752e-01 9.49122118e-01 -1.25367884e-03 8.14846380e+00] [ 3.77487044e-03 6.84226902e-05 9.99992873e-01 1.57464801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.52, Y:8.16, Z:0.16 [[ 9.50056498e-01 -3.12057639e-01 -3.56092786e-03 4.25211445e+01] [ 3.12055127e-01 9.50063168e-01 -1.25463948e-03 8.15708789e+00] [ 3.77462624e-03 8.07725938e-05 9.99992873e-01 1.56807551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290888479 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:42.55, Y:8.17, Z:0.16 [[ 9.51000285e-01 -3.09169502e-01 -3.56057823e-03 4.25468139e+01] [ 3.09166967e-01 9.51006945e-01 -1.25563091e-03 8.16598883e+00] [ 3.77433741e-03 9.32921802e-05 9.99992873e-01 1.56473057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320888479 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:42.57, Y:8.18, Z:0.16 [[ 9.52504916e-01 -3.04502395e-01 -3.56042674e-03 4.25722209e+01] [ 3.04499825e-01 9.52511564e-01 -1.25606034e-03 8.17517014e+00] [ 3.77382102e-03 1.12254326e-04 9.99992873e-01 1.56561501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350888479 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:42.60, Y:8.18, Z:0.16 [[ 9.53046052e-01 -3.02804471e-01 -3.56027839e-03 4.26035138e+01] [ 3.02801888e-01 9.53052694e-01 -1.25648068e-03 8.18298610e+00] [ 3.77360088e-03 1.19424936e-04 9.99992873e-01 1.55495257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380888479 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:42.63, Y:8.19, Z:0.16 [[ 9.52288212e-01 -3.05179292e-01 -3.57223777e-03 4.26263577e+01] [ 3.05176852e-01 9.52294909e-01 -1.22258802e-03 8.19135557e+00] [ 3.77493239e-03 7.40918880e-05 9.99992872e-01 1.56146861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410888479 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:42.65, Y:8.20, Z:0.16 [[ 9.51671567e-01 -3.07096983e-01 -3.55977121e-03 4.26528008e+01] [ 3.07094424e-01 9.51678219e-01 -1.25786844e-03 8.19896903e+00] [ 3.77404432e-03 1.03891738e-04 9.99992873e-01 1.56655639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:42.68, Y:8.21, Z:0.16 [[ 9.50885489e-01 -3.09522400e-01 -3.55962141e-03 4.26799641e+01] [ 3.09519857e-01 9.50892147e-01 -1.25829219e-03 8.20643837e+00] [ 3.77428567e-03 9.47182746e-05 9.99992873e-01 1.57703760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470888479 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:42.71, Y:8.21, Z:0.16 [[ 9.50130720e-01 -3.11831599e-01 -3.55926709e-03 4.27061163e+01] [ 3.11829068e-01 9.50137383e-01 -1.25929367e-03 8.21288918e+00] [ 3.77448027e-03 8.66106590e-05 9.99992873e-01 1.59222419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:42.73, Y:8.22, Z:0.16 [[ 9.49246651e-01 -3.14512526e-01 -3.55911374e-03 4.27329904e+01] [ 3.14510012e-01 9.49253320e-01 -1.25972693e-03 8.21988535e+00] [ 3.77470043e-03 7.64146635e-05 9.99992873e-01 1.61070658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:42.76, Y:8.23, Z:0.16 [[ 9.48209788e-01 -3.17624832e-01 -3.55875585e-03 4.27595437e+01] [ 3.17622337e-01 9.48216464e-01 -1.26073715e-03 8.22585837e+00] [ 3.77491231e-03 6.51029542e-05 9.99992873e-01 1.62396787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:42.79, Y:8.24, Z:0.16 [[ 9.47931150e-01 -3.18455448e-01 -3.55851256e-03 4.27859173e+01] [ 3.18452956e-01 9.47937827e-01 -1.26142349e-03 8.23500347e+00] [ 3.77495584e-03 6.25237717e-05 9.99992873e-01 1.61580838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:42.81, Y:8.24, Z:0.16 [[ 9.48348187e-01 -3.17211375e-01 -3.55816181e-03 4.28120293e+01] [ 3.17208870e-01 9.48354859e-01 -1.26241210e-03 8.24220388e+00] [ 3.77485152e-03 6.85257355e-05 9.99992873e-01 1.59506082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:42.84, Y:8.25, Z:0.16 [[ 9.48700757e-01 -3.16155364e-01 -3.55800995e-03 4.28390133e+01] [ 3.16152850e-01 9.48707426e-01 -1.26283993e-03 8.24922313e+00] [ 3.77476408e-03 7.31822138e-05 9.99992873e-01 1.59999024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.87, Y:8.26, Z:0.16 [[ 9.49207901e-01 -3.14629472e-01 -3.55766083e-03 4.28652959e+01] [ 3.14626943e-01 9.49214564e-01 -1.26382271e-03 8.25636473e+00] [ 3.77461935e-03 8.02945503e-05 9.99992873e-01 1.60809035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680888479000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.89, Y:8.26, Z:0.16 [[ 9.50537573e-01 -3.10589223e-01 -3.55750921e-03 4.28919359e+01] [ 3.10586666e-01 9.50544226e-01 -1.26424937e-03 8.26471768e+00] [ 3.77423207e-03 9.68016049e-05 9.99992873e-01 1.60604099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:42.92, Y:8.27, Z:0.16 [[ 9.51409089e-01 -3.07909228e-01 -3.55715978e-03 4.29174361e+01] [ 3.07906648e-01 9.51415732e-01 -1.26523177e-03 8.27440039e+00] [ 3.77391432e-03 1.08479863e-04 9.99992873e-01 1.60154507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:42.94, Y:8.28, Z:0.16 [[ 9.52384696e-01 -3.04878236e-01 -3.55700839e-03 4.29423758e+01] [ 3.04875633e-01 9.52391331e-01 -1.26565726e-03 8.28369398e+00] [ 3.77353530e-03 1.20947417e-04 9.99992873e-01 1.59751413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:42.97, Y:8.29, Z:0.16 [[ 9.54090874e-01 -2.99496165e-01 -3.55677522e-03 4.29700066e+01] [ 2.99493522e-01 9.54097493e-01 -1.26631215e-03 8.29044872e+00] [ 3.77276596e-03 1.42945730e-04 9.99992873e-01 1.59997679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:43.00, Y:8.30, Z:0.16 [[ 9.54537283e-01 -2.98070340e-01 -3.55643746e-03 4.29968047e+01] [ 2.98067684e-01 9.54543896e-01 -1.26726004e-03 8.29767116e+00] [ 3.77250831e-03 1.49587879e-04 9.99992873e-01 1.60233555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.02, Y:8.31, Z:0.16 [[ 9.54822337e-01 -2.97155950e-01 -3.55608942e-03 4.30239884e+01] [ 2.97153284e-01 9.54828947e-01 -1.26823595e-03 8.30607863e+00] [ 3.77232097e-03 1.54236366e-04 9.99992873e-01 1.60505576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:43.05, Y:8.32, Z:0.16 [[ 9.55031473e-01 -2.96483123e-01 -3.55574073e-03 4.30490658e+01] [ 2.96480448e-01 9.55038079e-01 -1.26921281e-03 8.31515787e+00] [ 3.77216798e-03 1.57930574e-04 9.99992873e-01 1.60037648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:8.33, Z:0.16 [[ 9.55314617e-01 -2.95569519e-01 -3.55550444e-03 4.30747551e+01] [ 2.95566836e-01 9.55321220e-01 -1.26987440e-03 8.32547004e+00] [ 3.77198500e-03 1.62240375e-04 9.99992873e-01 1.58211437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:43.10, Y:8.33, Z:0.16 [[ 9.55365002e-01 -2.95406625e-01 -3.55515447e-03 4.31007872e+01] [ 2.95403937e-01 9.55371603e-01 -1.27085343e-03 8.33371750e+00] [ 3.77191214e-03 1.63922259e-04 9.99992873e-01 1.57812923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.13, Y:8.34, Z:0.16 [[ 9.55353408e-01 -2.95444119e-01 -3.55500287e-03 4.31297225e+01] [ 2.95441429e-01 9.55360008e-01 -1.27127735e-03 8.34016841e+00] [ 3.77189899e-03 1.64224019e-04 9.99992873e-01 1.59053413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.16, Y:8.35, Z:0.16 [[ 9.54969695e-01 -2.96682030e-01 -3.55741234e-03 4.31565714e+01] [ 2.96679374e-01 9.54976309e-01 -1.26454133e-03 8.34547443e+00] [ 3.77241119e-03 1.52187777e-04 9.99992873e-01 1.61512899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:43.18, Y:8.35, Z:0.16 [[ 9.54214775e-01 -2.99101201e-01 -3.55449908e-03 4.31838687e+01] [ 2.99098532e-01 9.54221383e-01 -1.27267785e-03 8.35387806e+00] [ 3.77243851e-03 1.51262546e-04 9.99992873e-01 1.63201894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.21, Y:8.36, Z:0.16 [[ 9.53665576e-01 -3.00847698e-01 -3.55416166e-03 4.32097806e+01] [ 3.00845037e-01 9.53672188e-01 -1.27361946e-03 8.36440028e+00] [ 3.77267061e-03 1.45355136e-04 9.99992873e-01 1.62692636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.24, Y:8.37, Z:0.16 [[ 9.53313704e-01 -3.01960845e-01 -3.55381632e-03 4.32359825e+01] [ 3.01958189e-01 9.53320317e-01 -1.27458236e-03 8.37427258e+00] [ 3.77279926e-03 1.41972889e-04 9.99992873e-01 1.61690415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:8.38, Z:0.16 [[ 9.52917191e-01 -3.03209829e-01 -3.55346936e-03 4.32622390e+01] [ 3.03207178e-01 9.52923806e-01 -1.27554891e-03 8.38333248e+00] [ 3.77294452e-03 1.38055069e-04 9.99992873e-01 1.61275613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.29, Y:8.39, Z:0.16 [[ 9.52222841e-01 -3.05383424e-01 -3.55312268e-03 4.32888701e+01] [ 3.05380784e-01 9.52229461e-01 -1.27651389e-03 8.38851547e+00] [ 3.77321428e-03 1.30470294e-04 9.99992873e-01 1.63112221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.32, Y:8.40, Z:0.16 [[ 9.51541553e-01 -3.07499674e-01 -3.55297250e-03 4.33174874e+01] [ 3.07497047e-01 9.51548178e-01 -1.27693176e-03 8.39581138e+00] [ 3.77348061e-03 1.22525074e-04 9.99992873e-01 1.63001353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:8.40, Z:0.16 [[ 9.50824327e-01 -3.09710283e-01 -3.55525638e-03 4.33438091e+01] [ 3.09707695e-01 9.50830968e-01 -1.27057897e-03 8.40449856e+00] [ 3.77395924e-03 1.07007134e-04 9.99992873e-01 1.63861674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:8.42, Z:0.16 [[ 9.49795155e-01 -3.12852261e-01 -3.55346540e-03 4.33698093e+01] [ 3.12849676e-01 9.49801797e-01 -1.27555795e-03 8.41590638e+00] [ 3.77414901e-03 9.98182596e-05 9.99992873e-01 1.64124871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:43.40, Y:8.43, Z:0.16 [[ 9.49282522e-01 -3.14404315e-01 -3.55233881e-03 4.33950144e+01] [ 3.14401730e-01 9.49289164e-01 -1.27868774e-03 8.42628732e+00] [ 3.77422169e-03 9.69744584e-05 9.99992873e-01 1.62680314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:43.42, Y:8.44, Z:0.16 [[ 9.47882621e-01 -3.18599934e-01 -3.55218419e-03 4.34220169e+01] [ 3.18597377e-01 9.47889274e-01 -1.27911713e-03 8.43562671e+00] [ 3.77460393e-03 8.07363363e-05 9.99992873e-01 1.62774471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.45, Y:8.44, Z:0.16 [[ 9.46961911e-01 -3.21326196e-01 -3.55182861e-03 4.34490787e+01] [ 3.21323654e-01 9.46968569e-01 -1.28010375e-03 8.44369962e+00] [ 3.77480092e-03 7.09229429e-05 9.99992873e-01 1.62978145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.48, Y:8.45, Z:0.16 [[ 9.46872780e-01 -3.21588752e-01 -3.55147378e-03 4.34759549e+01] [ 3.21586209e-01 9.46879438e-01 -1.28108741e-03 8.45347704e+00] [ 3.77480080e-03 7.09218097e-05 9.99992873e-01 1.63085682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:8.46, Z:0.16 [[ 9.45925347e-01 -3.24364960e-01 -3.55111830e-03 4.35024256e+01] [ 3.24362432e-01 9.45932011e-01 -1.28207204e-03 8.46208447e+00] [ 3.77497572e-03 6.08950734e-05 9.99992873e-01 1.63289839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:8.47, Z:0.16 [[ 9.44009146e-01 -3.29900174e-01 -3.55076433e-03 4.35282880e+01] [ 3.29897681e-01 9.44015823e-01 -1.28305162e-03 8.47154348e+00] [ 3.77525666e-03 3.98235460e-05 9.99992873e-01 1.63225299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:8.48, Z:0.16 [[ 9.42864191e-01 -3.33158387e-01 -3.55061120e-03 4.35543706e+01] [ 3.33155915e-01 9.42870876e-01 -1.28347523e-03 8.48133629e+00] [ 3.77536843e-03 2.72357122e-05 9.99992873e-01 1.63839454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:43.58, Y:8.49, Z:0.16 [[ 9.41610303e-01 -3.36685957e-01 -3.55026175e-03 4.35810076e+01] [ 3.36683507e-01 9.41616995e-01 -1.28444115e-03 8.49113836e+00] [ 3.77544010e-03 1.41284390e-05 9.99992873e-01 1.64088553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:8.50, Z:0.16 [[ 9.40447234e-01 -3.39921166e-01 -3.54991474e-03 4.36075134e+01] [ 3.39918735e-01 9.40453934e-01 -1.28539950e-03 8.50054191e+00] [ 3.77546577e-03 2.16787157e-06 9.99992873e-01 1.64295928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.64, Y:8.51, Z:0.17 [[ 9.38439118e-01 -3.45426434e-01 -3.54980737e-03 4.36354969e+01] [ 3.45424042e-01 9.38445831e-01 -1.28569594e-03 8.50926909e+00] [ 3.77541529e-03 -1.96414459e-05 9.99992873e-01 1.67656987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:8.52, Z:0.17 [[ 9.38781667e-01 -3.44494388e-01 -3.54950953e-03 4.36702219e+01] [ 3.44491986e-01 9.38788377e-01 -1.28651768e-03 8.51600487e+00] [ 3.77543641e-03 -1.50183754e-05 9.99992873e-01 1.68880648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:8.53, Z:0.17 [[ 9.36831118e-01 -3.49763781e-01 -3.57130778e-03 4.36885937e+01] [ 3.49761646e-01 9.36837919e-01 -1.22629160e-03 8.52843577e+00] [ 3.77464894e-03 -1.00278358e-04 9.99992871e-01 1.73914059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:8.54, Z:0.17 [[ 9.36562425e-01 -3.50482852e-01 -3.54901747e-03 4.37139711e+01] [ 3.50480488e-01 9.36569148e-01 -1.28772456e-03 8.53997200e+00] [ 3.77522565e-03 -3.78269351e-05 9.99992873e-01 1.73760477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:8.55, Z:0.17 [[ 9.36381262e-01 -3.50966578e-01 -3.54865526e-03 4.37390004e+01] [ 3.50964214e-01 9.36387986e-01 -1.28872196e-03 8.55206596e+00] [ 3.77521649e-03 -3.87159101e-05 9.99992873e-01 1.72621029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:43.76, Y:8.57, Z:0.17 [[ 9.36140813e-01 -3.51607435e-01 -3.54829413e-03 4.37639347e+01] [ 3.51605072e-01 9.36147536e-01 -1.28971549e-03 8.56539298e+00] [ 3.77520037e-03 -4.02429035e-05 9.99992873e-01 1.68542342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.79, Y:8.58, Z:0.17 [[ 9.36014439e-01 -3.51943720e-01 -3.54793369e-03 4.37902911e+01] [ 3.51941355e-01 9.36021162e-01 -1.29070628e-03 8.57647103e+00] [ 3.77519699e-03 -4.05448769e-05 9.99992873e-01 1.71271729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:43.81, Y:8.59, Z:0.17 [[ 9.35562183e-01 -3.53144186e-01 -3.54756850e-03 4.38141124e+01] [ 3.53141826e-01 9.35568908e-01 -1.29170925e-03 8.58877321e+00] [ 3.77515440e-03 -4.43204964e-05 9.99992873e-01 1.71687243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:8.60, Z:0.17 [[ 9.35433315e-01 -3.53485402e-01 -3.54741024e-03 4.38384130e+01] [ 3.53483043e-01 9.35440040e-01 -1.29214375e-03 8.60011759e+00] [ 3.77514353e-03 -4.52350531e-05 9.99992873e-01 1.70535076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:43.86, Y:8.61, Z:0.17 [[ 9.35263643e-01 -3.53934082e-01 -3.54725386e-03 4.38633290e+01] [ 3.53931725e-01 9.35270369e-01 -1.29257289e-03 8.61252804e+00] [ 3.77512703e-03 -4.65892433e-05 9.99992873e-01 1.68792451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820888479 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:43.89, Y:8.63, Z:0.16 [[ 9.34789754e-01 -3.55183806e-01 -3.54689406e-03 4.38890002e+01] [ 3.55181454e-01 9.34796481e-01 -1.29355944e-03 8.63058339e+00] [ 3.77507546e-03 -5.05848760e-05 9.99992873e-01 1.57439461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:43.91, Y:8.64, Z:0.16 [[ 9.35141897e-01 -3.54255596e-01 -3.55031790e-03 4.39129648e+01] [ 3.54253273e-01 9.35148635e-01 -1.28417479e-03 8.64250923e+00] [ 3.77500104e-03 -5.68260918e-05 9.99992873e-01 1.64464173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880888479 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:43.94, Y:8.66, Z:0.16 [[ 9.34688687e-01 -3.55449689e-01 -3.54644171e-03 4.39378777e+01] [ 3.55447335e-01 9.34695413e-01 -1.29479170e-03 8.65626852e+00] [ 3.77507611e-03 -5.03460984e-05 9.99992873e-01 1.64034126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910888479 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:43.96, Y:8.67, Z:0.17 [[ 9.34579673e-01 -3.55736221e-01 -3.54609009e-03 4.39630324e+01] [ 3.55733865e-01 9.34586400e-01 -1.29575398e-03 8.66874051e+00] [ 3.77507419e-03 -5.04790026e-05 9.99992873e-01 1.65699898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940888479 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:43.99, Y:8.68, Z:0.16 [[ 9.34210083e-01 -3.56705689e-01 -3.54573974e-03 4.39909287e+01] [ 3.56703336e-01 9.34216810e-01 -1.29671198e-03 8.68313934e+00] [ 3.77503421e-03 -5.33757835e-05 9.99992873e-01 1.59029174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970888479 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:44.01, Y:8.70, Z:0.17 [[ 9.34824280e-01 -3.55092879e-01 -3.55149656e-03 4.40123072e+01] [ 3.55090575e-01 9.34831024e-01 -1.28097406e-03 8.70095591e+00] [ 3.77491393e-03 -6.36172996e-05 9.99992873e-01 1.65130845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000888479 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:44.04, Y:8.71, Z:0.16 [[ 9.35027816e-01 -3.54556645e-01 -3.54529986e-03 4.40371670e+01] [ 3.54554272e-01 9.35034536e-01 -1.29790076e-03 8.71400100e+00] [ 3.77515715e-03 -4.34278943e-05 9.99992873e-01 1.63684506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030888479 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:44.06, Y:8.73, Z:0.17 [[ 9.36346451e-01 -3.51059478e-01 -3.54495990e-03 4.40610887e+01] [ 3.51057077e-01 9.36353161e-01 -1.29882863e-03 8.72913799e+00] [ 3.77530051e-03 -2.83296822e-05 9.99992873e-01 1.66862979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060888479 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:44.09, Y:8.74, Z:0.17 [[ 9.36815242e-01 -3.49806572e-01 -3.54460195e-03 4.40852808e+01] [ 3.49804158e-01 9.36821948e-01 -1.29980475e-03 8.74195893e+00] [ 3.77534115e-03 -2.22395968e-05 9.99992873e-01 1.66890748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090888479 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:44.11, Y:8.76, Z:0.17 [[ 9.37222694e-01 -3.48713432e-01 -3.54444662e-03 4.41101166e+01] [ 3.48711009e-01 9.37229397e-01 -1.30022818e-03 8.75524409e+00] [ 3.77536660e-03 -1.73841996e-05 9.99992873e-01 1.67042820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120888479 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:44.13, Y:8.77, Z:0.16 [[ 9.37815970e-01 -3.47114746e-01 -3.54409076e-03 4.41337368e+01] [ 3.47112307e-01 9.37822666e-01 -1.30119745e-03 8.77247590e+00] [ 3.77539347e-03 -9.91377074e-06 9.99992873e-01 1.63237150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150888479 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:44.16, Y:8.79, Z:0.16 [[ 9.38387387e-01 -3.45567004e-01 -3.54373472e-03 4.41588357e+01] [ 3.45564551e-01 9.38394078e-01 -1.30216639e-03 8.78601627e+00] [ 3.77540541e-03 -2.65257784e-06 9.99992873e-01 1.63048362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180888479000004 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:44.19, Y:8.80, Z:0.16 [[ 9.39266390e-01 -3.43170646e-01 -3.54338018e-03 4.41868451e+01] [ 3.43168172e-01 9.39273074e-01 -1.30313043e-03 8.79903224e+00] [ 3.77539770e-03 8.01132172e-06 9.99992873e-01 1.61418432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210888479 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:44.21, Y:8.81, Z:0.16 [[ 9.39343996e-01 -3.42958086e-01 -3.55089446e-03 4.42101088e+01] [ 3.42955688e-01 9.39350707e-01 -1.28270018e-03 8.81260491e+00] [ 3.77544762e-03 -1.29027405e-05 9.99992873e-01 1.58392342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240888479 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:44.24, Y:8.83, Z:0.16 [[ 9.41169163e-01 -3.37917204e-01 -3.54551243e-03 4.42375092e+01] [ 3.37914714e-01 9.41175841e-01 -1.29731296e-03 8.82560897e+00] [ 3.77533501e-03 2.29101315e-05 9.99992873e-01 1.59559885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270888479 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:44.26, Y:8.84, Z:0.16 [[ 9.41266484e-01 -3.37645973e-01 -3.55011897e-03 4.42612915e+01] [ 3.37643528e-01 9.41273179e-01 -1.28481070e-03 8.83831752e+00] [ 3.77544293e-03 1.06745547e-05 9.99992873e-01 1.56575517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300888479 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:44.28, Y:8.85, Z:0.16 [[ 9.42743577e-01 -3.33499593e-01 -3.54522131e-03 4.42841945e+01] [ 3.33497070e-01 9.42750242e-01 -1.29808548e-03 8.85448923e+00] [ 3.77516923e-03 4.14408283e-05 9.99992873e-01 1.57492324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330888479 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:44.31, Y:8.87, Z:0.16 [[ 9.43665863e-01 -3.30880938e-01 -3.54176314e-03 4.43125638e+01] [ 3.30878361e-01 9.43672507e-01 -1.30745334e-03 8.86635413e+00] [ 3.77487589e-03 6.19062991e-05 9.99992873e-01 1.57688544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360888479 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:44.33, Y:8.88, Z:0.16 [[ 9.44052822e-01 -3.29775163e-01 -3.55109155e-03 4.43348093e+01] [ 3.29772673e-01 9.44059500e-01 -1.28217814e-03 8.87817287e+00] [ 3.77527222e-03 3.93909382e-05 9.99992873e-01 1.57619895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390888479 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:44.36, Y:8.89, Z:0.16 [[ 9.45030953e-01 -3.26961705e-01 -3.54135735e-03 4.43643406e+01] [ 3.26959097e-01 9.45037585e-01 -1.30852259e-03 8.88857422e+00] [ 3.77455257e-03 7.87153558e-05 9.99992873e-01 1.60139426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420888479 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:44.39, Y:8.90, Z:0.16 [[ 9.45497032e-01 -3.25611372e-01 -3.54916421e-03 4.43864482e+01] [ 3.25608832e-01 9.45503692e-01 -1.28739435e-03 8.89950582e+00] [ 3.77493810e-03 6.15883271e-05 9.99992873e-01 1.63699591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450888479 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:44.41, Y:8.91, Z:0.16 [[ 9.46019513e-01 -3.24090331e-01 -3.54082805e-03 4.44123693e+01] [ 3.24087697e-01 9.46026135e-01 -1.30992760e-03 8.91100571e+00] [ 3.77425074e-03 9.16782599e-05 9.99992873e-01 1.63133317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480888479 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:44.44, Y:8.93, Z:0.16 [[ 9.46719952e-01 -3.22038505e-01 -3.54046457e-03 4.44362030e+01] [ 3.22035852e-01 9.46726566e-01 -1.31090927e-03 8.92579184e+00] [ 3.77401513e-03 1.00907438e-04 9.99992873e-01 1.58448416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510888479 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:44.46, Y:8.94, Z:0.16 [[ 9.47633862e-01 -3.19339248e-01 -3.53669186e-03 4.44630750e+01] [ 3.19336539e-01 9.47640454e-01 -1.32108217e-03 8.93633814e+00] [ 3.77338566e-03 1.22507257e-04 9.99992873e-01 1.62425810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540888479 meters Centerline goodness : 0.997035 Centerline is valid? [True, True] Translation: X:44.49, Y:8.95, Z:0.16 [[ 9.48582812e-01 -3.16509274e-01 -3.53950494e-03 4.44886897e+01] [ 3.16506574e-01 9.48589407e-01 -1.31349738e-03 8.94694579e+00] [ 3.77327099e-03 1.25684453e-04 9.99992873e-01 1.61834932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570888479 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:44.51, Y:8.96, Z:0.16 [[ 9.49051268e-01 -3.15101869e-01 -3.53590559e-03 4.45149009e+01] [ 3.15099122e-01 9.49057845e-01 -1.32320950e-03 8.95674462e+00] [ 3.77272473e-03 1.41632909e-04 9.99992873e-01 1.63192258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600888479 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:44.54, Y:8.97, Z:0.17 [[ 9.50381148e-01 -3.11067813e-01 -3.53396067e-03 4.45433266e+01] [ 3.11065019e-01 9.50387705e-01 -1.32845500e-03 8.96553738e+00] [ 3.77187236e-03 1.63247048e-04 9.99992873e-01 1.67709174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630888479 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:44.57, Y:8.98, Z:0.16 [[ 9.50084015e-01 -3.11974093e-01 -3.53982095e-03 4.45668843e+01] [ 3.11971364e-01 9.50090598e-01 -1.31265162e-03 8.97841121e+00] [ 3.77266390e-03 1.42806547e-04 9.99992873e-01 1.61560272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660888479 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:44.59, Y:8.99, Z:0.16 [[ 9.52070329e-01 -3.05858801e-01 -3.53298688e-03 4.45938885e+01] [ 3.05855962e-01 9.52076866e-01 -1.33109006e-03 8.99003594e+00] [ 3.77080069e-03 1.86706246e-04 9.99992873e-01 1.59932122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690888479 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:44.62, Y:9.00, Z:0.16 [[ 9.52385467e-01 -3.04876089e-01 -3.53448643e-03 4.46187656e+01] [ 3.04873258e-01 9.52392007e-01 -1.32704560e-03 9.00094812e+00] [ 3.77080110e-03 1.86288545e-04 9.99992873e-01 1.56865497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720888479 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:44.65, Y:9.01, Z:0.16 [[ 9.53541198e-01 -3.01241974e-01 -3.52935708e-03 4.46480160e+01] [ 3.01239067e-01 9.53547705e-01 -1.34086886e-03 9.00884200e+00] [ 3.76933633e-03 2.15393467e-04 9.99992873e-01 1.57800934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750888479 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:44.68, Y:9.02, Z:0.16 [[ 9.54005461e-01 -2.99768408e-01 -3.53298622e-03 4.46756658e+01] [ 2.99765527e-01 9.54011980e-01 -1.33108733e-03 9.01709834e+00] [ 3.76952911e-03 2.10797108e-04 9.99992873e-01 1.57524347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780888479 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:44.70, Y:9.03, Z:0.16 [[ 9.54111071e-01 -2.99432078e-01 -3.53476051e-03 4.47019465e+01] [ 2.99429212e-01 9.54117597e-01 -1.32630765e-03 9.02686294e+00] [ 3.76971626e-03 2.07034263e-04 9.99992873e-01 1.58485513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810888479 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:44.73, Y:9.04, Z:0.16 [[ 9.53917448e-01 -3.00048375e-01 -3.53205647e-03 4.47276166e+01] [ 3.00045486e-01 9.53923963e-01 -1.33358545e-03 9.03643696e+00] [ 3.76945345e-03 2.12352828e-04 9.99992873e-01 1.58273621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840888479 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:44.76, Y:9.04, Z:0.16 [[ 9.54335311e-01 -2.98716672e-01 -3.53048419e-03 4.47571572e+01] [ 2.98713759e-01 9.54341815e-01 -1.33781407e-03 9.04335096e+00] [ 3.76891606e-03 2.22119008e-04 9.99992873e-01 1.60551628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870888479 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:44.78, Y:9.05, Z:0.16 [[ 9.53185266e-01 -3.02366212e-01 -3.53877513e-03 4.47825127e+01] [ 3.02363407e-01 9.53191817e-01 -1.31551113e-03 9.05210500e+00] [ 3.77089761e-03 1.83929728e-04 9.99992873e-01 1.55744264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900888479 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:44.81, Y:9.06, Z:0.16 [[ 9.52920559e-01 -3.03199500e-01 -3.53145115e-03 4.48101464e+01] [ 3.03196627e-01 9.52927081e-01 -1.33518840e-03 9.05752746e+00] [ 3.77004389e-03 2.01604400e-04 9.99992873e-01 1.55631486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930888479000004 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:44.84, Y:9.07, Z:0.16 [[ 9.52382155e-01 -3.04886433e-01 -3.53453726e-03 4.48366858e+01] [ 3.04883603e-01 9.52388696e-01 -1.32689826e-03 9.06584998e+00] [ 3.77080661e-03 1.86091768e-04 9.99992873e-01 1.56209397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960888479 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:44.86, Y:9.07, Z:0.16 [[ 9.52191382e-01 -3.05481765e-01 -3.53039700e-03 4.48632584e+01] [ 3.05478898e-01 9.52197906e-01 -1.33801379e-03 9.07313240e+00] [ 3.77037545e-03 1.95583417e-04 9.99992873e-01 1.58280151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990888479 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:44.89, Y:9.08, Z:0.16 [[ 9.51899639e-01 -3.06389630e-01 -3.53161941e-03 4.48930563e+01] [ 3.06386781e-01 9.51906171e-01 -1.33473333e-03 9.07807380e+00] [ 3.77071876e-03 1.88490671e-04 9.99992873e-01 1.59252209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020888479 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:44.92, Y:9.08, Z:0.16 [[ 9.52205432e-01 -3.05437894e-01 -3.53666201e-03 4.49202866e+01] [ 3.05435089e-01 9.52211983e-01 -1.32120100e-03 9.08397755e+00] [ 3.77119680e-03 1.77834093e-04 9.99992873e-01 1.64948622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050888479 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:44.95, Y:9.09, Z:0.16 [[ 9.51799365e-01 -3.06700921e-01 -3.53753166e-03 4.49473195e+01] [ 3.06698133e-01 9.51805923e-01 -1.31886838e-03 9.09284483e+00] [ 3.77154174e-03 1.70343735e-04 9.99992873e-01 1.59411640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080888479 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:44.97, Y:9.10, Z:0.16 [[ 9.52480373e-01 -3.04579443e-01 -3.53574046e-03 4.49741563e+01] [ 3.04576622e-01 9.52486918e-01 -1.32367009e-03 9.10008736e+00] [ 3.77090923e-03 1.83865897e-04 9.99992873e-01 1.61900430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110888479 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:45.00, Y:9.11, Z:0.16 [[ 9.53326229e-01 -3.01921496e-01 -3.53703117e-03 4.50006303e+01] [ 3.01918670e-01 9.53332772e-01 -1.32021209e-03 9.10509546e+00] [ 3.77056814e-03 1.90697069e-04 9.99992873e-01 1.62059747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140888479 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:45.03, Y:9.11, Z:0.16 [[ 9.53136646e-01 -3.02519462e-01 -3.53686940e-03 4.50298732e+01] [ 3.02516639e-01 9.53143189e-01 -1.32064535e-03 9.10812019e+00] [ 3.77066390e-03 1.88793636e-04 9.99992873e-01 1.57774557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170888479 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:45.06, Y:9.12, Z:0.16 [[ 9.53097750e-01 -3.02641992e-01 -3.53616964e-03 4.50556414e+01] [ 3.02639162e-01 9.53104291e-01 -1.32251782e-03 9.11783362e+00] [ 3.77058788e-03 1.90305347e-04 9.99992873e-01 1.57877834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200888479 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:45.08, Y:9.13, Z:0.16 [[ 9.53058838e-01 -3.02764510e-01 -3.53599954e-03 4.50814086e+01] [ 3.02761680e-01 9.53065378e-01 -1.32297281e-03 9.12754976e+00] [ 3.77058795e-03 1.90305765e-04 9.99992873e-01 1.57981634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230888479 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:45.11, Y:9.13, Z:0.16 [[ 9.53035498e-01 -3.02837972e-01 -3.53582347e-03 4.51073830e+01] [ 3.02835140e-01 9.53042038e-01 -1.32344358e-03 9.13491505e+00] [ 3.77057737e-03 1.90517112e-04 9.99992873e-01 1.59208490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260888479 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:45.13, Y:9.14, Z:0.16 [[ 9.52980702e-01 -3.03010385e-01 -3.53396747e-03 4.51331658e+01] [ 3.03007536e-01 9.52987234e-01 -1.32840311e-03 9.14462915e+00] [ 3.77034582e-03 1.95123753e-04 9.99992873e-01 1.59310668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290888479 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:45.16, Y:9.15, Z:0.16 [[ 9.53162002e-01 -3.02439598e-01 -3.53369882e-03 4.51615870e+01] [ 3.02436742e-01 9.53168532e-01 -1.32912058e-03 9.15061195e+00] [ 3.77018921e-03 1.98146873e-04 9.99992873e-01 1.59551530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320888479 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:45.19, Y:9.16, Z:0.16 [[ 9.53446933e-01 -3.01540127e-01 -3.53526803e-03 4.51890196e+01] [ 3.01537280e-01 9.53453467e-01 -1.32493231e-03 9.15981257e+00] [ 3.77023381e-03 1.97237542e-04 9.99992873e-01 1.60001576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350888479 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:45.22, Y:9.17, Z:0.16 [[ 9.53796818e-01 -3.00431572e-01 -3.53567871e-03 4.52163111e+01] [ 3.00428722e-01 9.53803350e-01 -1.32383661e-03 9.16883194e+00] [ 3.77006451e-03 2.00451714e-04 9.99992873e-01 1.59008064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380888479 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:45.24, Y:9.17, Z:0.16 [[ 9.54944251e-01 -2.96764180e-01 -3.53547994e-03 4.52443041e+01] [ 2.96761303e-01 9.54950771e-01 -1.32436648e-03 9.17432382e+00] [ 3.76923383e-03 2.15502522e-04 9.99992873e-01 1.59737647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410888479 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:45.27, Y:9.18, Z:0.15 [[ 9.54318923e-01 -2.98768975e-01 -3.53454281e-03 4.52696403e+01] [ 2.98766102e-01 9.54325445e-01 -1.32686283e-03 9.18322028e+00] [ 3.76952959e-03 2.10248731e-04 9.99992873e-01 1.54014739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440888479 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:45.30, Y:9.19, Z:0.16 [[ 9.55323429e-01 -2.95541366e-01 -3.52793609e-03 4.52996184e+01] [ 2.95538407e-01 9.55329913e-01 -1.34444864e-03 9.18840769e+00] [ 3.76768307e-03 2.41742675e-04 9.99992873e-01 1.61801230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470888479 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:45.33, Y:9.19, Z:0.16 [[ 9.54738846e-01 -2.97424350e-01 -3.53435210e-03 4.53275608e+01] [ 2.97421466e-01 9.54745364e-01 -1.32736487e-03 9.19416769e+00] [ 3.76919691e-03 2.16094618e-04 9.99992873e-01 1.60857212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500888479 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:45.35, Y:9.21, Z:0.15 [[ 9.52615268e-01 -3.04157296e-01 -3.53418236e-03 4.53453769e+01] [ 3.04154457e-01 9.52621805e-01 -1.32781663e-03 9.20578987e+00] [ 3.77060430e-03 1.89961076e-04 9.99992873e-01 1.54719376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530888479 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:45.37, Y:9.21, Z:0.16 [[ 9.52483562e-01 -3.04569809e-01 -3.50654708e-03 4.53748158e+01] [ 3.04566702e-01 9.52489979e-01 -1.40135480e-03 9.21333481e+00] [ 3.76676132e-03 2.66789927e-04 9.99992870e-01 1.57891944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560888479 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:45.40, Y:9.22, Z:0.16 [[ 9.52134743e-01 -3.05658443e-01 -3.51385131e-03 4.54010367e+01] [ 3.05655414e-01 9.52141196e-01 -1.38191848e-03 9.22036500e+00] [ 3.76807764e-03 2.41744918e-04 9.99992872e-01 1.60743923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590888479 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:45.44, Y:9.22, Z:0.17 [[ 9.53214303e-01 -3.02274968e-01 -3.51237504e-03 4.54364738e+01] [ 3.02271902e-01 9.53220739e-01 -1.38584323e-03 9.22469437e+00] [ 3.76697445e-03 2.59313307e-04 9.99992871e-01 1.65941184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620888479 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:45.46, Y:9.23, Z:0.17 [[ 9.52721716e-01 -3.03823700e-01 -3.53439354e-03 4.54635473e+01] [ 3.03820861e-01 9.52728252e-01 -1.32720732e-03 9.23212032e+00] [ 3.77055362e-03 1.90636748e-04 9.99992873e-01 1.65376319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650888479 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:45.49, Y:9.24, Z:0.16 [[ 9.50854270e-01 -3.09618585e-01 -3.53401955e-03 4.54877760e+01] [ 3.09615782e-01 9.50860822e-01 -1.32820243e-03 9.24032046e+00] [ 3.77159689e-03 1.68738722e-04 9.99992873e-01 1.57796116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.680888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:45.52, Y:9.25, Z:0.16 [[ 9.49513517e-01 -3.13706340e-01 -3.52317722e-03 4.55159162e+01] [ 3.13703458e-01 9.49520036e-01 -1.35702697e-03 9.24592332e+00] [ 3.77103532e-03 1.83282575e-04 9.99992873e-01 1.57768801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710888479 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:45.54, Y:9.25, Z:0.16 [[ 9.48850060e-01 -3.15707404e-01 -3.52109043e-03 4.55441058e+01] [ 3.15704516e-01 9.48856576e-01 -1.36257580e-03 9.25373096e+00] [ 3.77118508e-03 1.81255983e-04 9.99992873e-01 1.59874175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740888479 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:45.57, Y:9.26, Z:0.16 [[ 9.48427933e-01 -3.16973253e-01 -3.52316886e-03 4.55738446e+01] [ 3.16970394e-01 9.48434462e-01 -1.35705236e-03 9.26008777e+00] [ 3.77164407e-03 1.70326148e-04 9.99992873e-01 1.60359139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:45.60, Y:9.27, Z:0.16 [[ 9.47428121e-01 -3.19949183e-01 -3.53220547e-03 4.55997145e+01] [ 3.19946433e-01 9.47434696e-01 -1.33303087e-03 9.26845181e+00] [ 3.77303615e-03 1.32834388e-04 9.99992873e-01 1.64639363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800888479 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:45.63, Y:9.27, Z:0.17 [[ 9.45891110e-01 -3.24465059e-01 -3.52619299e-03 4.56297582e+01] [ 3.24462281e-01 9.45897673e-01 -1.34900127e-03 9.27411981e+00] [ 3.77312152e-03 1.31891685e-04 9.99992873e-01 1.66390182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:45.66, Y:9.28, Z:0.17 [[ 9.45009826e-01 -3.27022850e-01 -3.53333336e-03 4.56562012e+01] [ 3.27020161e-01 9.45016426e-01 -1.33003233e-03 9.28226373e+00] [ 3.77400903e-03 1.01422373e-04 9.99992873e-01 1.68853527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:45.68, Y:9.29, Z:0.17 [[ 9.44044736e-01 -3.29798507e-01 -3.53297522e-03 4.56828529e+01] [ 3.29795834e-01 9.44051342e-01 -1.33098298e-03 9.29067100e+00] [ 3.77426620e-03 9.13469638e-05 9.99992873e-01 1.71209877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:45.71, Y:9.30, Z:0.17 [[ 9.42015921e-01 -3.35549587e-01 -3.53261911e-03 4.57107341e+01] [ 3.35546951e-01 9.42022542e-01 -1.33192746e-03 9.29769795e+00] [ 3.77473455e-03 6.93373045e-05 9.99992873e-01 1.72256621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:45.74, Y:9.31, Z:0.17 [[ 9.40961340e-01 -3.38495612e-01 -3.53224886e-03 4.57379791e+01] [ 3.38492993e-01 9.40967968e-01 -1.33290864e-03 9.30632410e+00] [ 3.77491676e-03 5.85740062e-05 9.99992873e-01 1.72612604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:45.76, Y:9.32, Z:0.17 [[ 9.39835359e-01 -3.41609461e-01 -3.53187427e-03 4.57640677e+01] [ 3.41606860e-01 9.39841994e-01 -1.33390047e-03 9.31595924e+00] [ 3.77507678e-03 4.71343486e-05 9.99992873e-01 1.72085355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:9.33, Z:0.17 [[ 9.39230244e-01 -3.43269686e-01 -3.53149899e-03 4.57903252e+01] [ 3.43267093e-01 9.39236882e-01 -1.33489329e-03 9.32601465e+00] [ 3.77514250e-03 4.15247537e-05 9.99992873e-01 1.74697048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:45.82, Y:9.34, Z:0.17 [[ 9.37243766e-01 -3.48656928e-01 -3.53138300e-03 4.58163774e+01] [ 3.48654371e-01 9.37250418e-01 -1.33520006e-03 9.33729594e+00] [ 3.77531695e-03 2.01758065e-05 9.99992873e-01 1.72666871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040888479 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:45.84, Y:9.35, Z:0.17 [[ 9.36416600e-01 -3.50872460e-01 -3.53101194e-03 4.58420585e+01] [ 3.50869916e-01 9.36423257e-01 -1.33618065e-03 9.34644663e+00] [ 3.77535069e-03 1.22958785e-05 9.99992873e-01 1.72963866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:45.87, Y:9.36, Z:0.18 [[ 9.35396710e-01 -3.53582421e-01 -3.53085121e-03 4.58683703e+01] [ 3.53579895e-01 9.35403374e-01 -1.33660522e-03 9.35511233e+00] [ 3.77537025e-03 1.81812071e-06 9.99992873e-01 1.76449934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:45.89, Y:9.37, Z:0.17 [[ 9.34869267e-01 -3.54974631e-01 -3.53047957e-03 4.58938669e+01] [ 3.54972111e-01 9.34875934e-01 -1.33758614e-03 9.36572820e+00] [ 3.77536953e-03 -2.75361580e-06 9.99992873e-01 1.74520432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:45.92, Y:9.38, Z:0.18 [[ 9.34812505e-01 -3.55124088e-01 -3.53011096e-03 4.59200262e+01] [ 3.55121566e-01 9.34819171e-01 -1.33855827e-03 9.37688767e+00] [ 3.77536968e-03 -2.31751807e-06 9.99992873e-01 1.76792402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:45.94, Y:9.39, Z:0.17 [[ 9.34579503e-01 -3.55736831e-01 -3.52974012e-03 4.59440539e+01] [ 3.55734309e-01 9.34586169e-01 -1.33953544e-03 9.39051247e+00] [ 3.77536839e-03 -3.74729389e-06 9.99992873e-01 1.74250138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:45.97, Y:9.40, Z:0.17 [[ 9.34245575e-01 -3.56612882e-01 -3.52957950e-03 4.59690981e+01] [ 3.56610365e-01 9.34252242e-01 -1.33995854e-03 9.40302845e+00] [ 3.77536404e-03 -6.83429825e-06 9.99992873e-01 1.69175310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220888479 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:45.99, Y:9.41, Z:0.17 [[ 9.34302039e-01 -3.56464929e-01 -3.52921562e-03 4.59945309e+01] [ 3.56462407e-01 9.34308704e-01 -1.34091624e-03 9.41492302e+00] [ 3.77536649e-03 -5.21192055e-06 9.99992873e-01 1.67399987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:46.02, Y:9.43, Z:0.17 [[ 9.35060901e-01 -3.54469545e-01 -3.52884640e-03 4.60198086e+01] [ 3.54467005e-01 9.35067560e-01 -1.34188721e-03 9.42751982e+00] [ 3.77536794e-03 3.88665326e-06 9.99992873e-01 1.68972725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280888479 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:46.05, Y:9.44, Z:0.17 [[ 9.35349349e-01 -3.53707712e-01 -3.52847980e-03 4.60454891e+01] [ 3.53705163e-01 9.35356004e-01 -1.34285050e-03 9.43869787e+00] [ 3.77536134e-03 7.99281404e-06 9.99992873e-01 1.68883368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310888479 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:46.07, Y:9.45, Z:0.17 [[ 9.35811961e-01 -3.52481951e-01 -3.52810552e-03 4.60703381e+01] [ 3.52479390e-01 9.35818612e-01 -1.34383313e-03 9.45012146e+00] [ 3.77534373e-03 1.39906326e-05 9.99992873e-01 1.68159687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340888479 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:46.09, Y:9.46, Z:0.17 [[ 9.36844976e-01 -3.49727100e-01 -3.52794324e-03 4.60946240e+01] [ 3.49724517e-01 9.36851619e-01 -1.34425902e-03 9.46409589e+00] [ 3.77528314e-03 2.55540674e-05 9.99992873e-01 1.68756371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370888479 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:46.12, Y:9.48, Z:0.17 [[ 9.37338297e-01 -3.48402745e-01 -3.52756716e-03 4.61190799e+01] [ 3.48400149e-01 9.37344934e-01 -1.34524520e-03 9.47593598e+00] [ 3.77523433e-03 3.19449162e-05 9.99992873e-01 1.68556405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400888479 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:46.14, Y:9.49, Z:0.17 [[ 9.38801021e-01 -3.44441868e-01 -3.52731162e-03 4.61441574e+01] [ 3.44439242e-01 9.38807647e-01 -1.34591491e-03 9.48937279e+00] [ 3.77505656e-03 4.86017559e-05 9.99992873e-01 1.70357018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.430888479 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:46.17, Y:9.50, Z:0.17 [[ 9.39297610e-01 -3.43085351e-01 -3.52719872e-03 4.61696354e+01] [ 3.43082714e-01 9.39304231e-01 -1.34621072e-03 9.50160025e+00] [ 3.77497786e-03 5.43715999e-05 9.99992873e-01 1.71100900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460888479 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:46.19, Y:9.51, Z:0.17 [[ 9.39843842e-01 -3.41586174e-01 -3.52681784e-03 4.61941409e+01] [ 3.41583523e-01 9.39850457e-01 -1.34720782e-03 9.51359517e+00] [ 3.77486892e-03 6.14621079e-05 9.99992873e-01 1.69807907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490888479 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:46.22, Y:9.53, Z:0.17 [[ 9.40328479e-01 -3.40249781e-01 -3.52665240e-03 4.62198430e+01] [ 3.40247119e-01 9.40335090e-01 -1.34764076e-03 9.52569060e+00] [ 3.77476947e-03 6.72916648e-05 9.99992873e-01 1.68695197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520888479 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:46.24, Y:9.54, Z:0.17 [[ 9.42465004e-01 -3.34286227e-01 -3.52627376e-03 4.62442749e+01] [ 3.34283519e-01 9.42471596e-01 -1.34863077e-03 9.53855691e+00] [ 3.77424156e-03 9.22621046e-05 9.99992873e-01 1.71395127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550888479 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:46.27, Y:9.55, Z:0.17 [[ 9.43489563e-01 -3.31383482e-01 -3.52601634e-03 4.62701239e+01] [ 3.31380752e-01 9.43496146e-01 -1.34930347e-03 9.55096661e+00] [ 3.77391971e-03 1.04599796e-04 9.99992873e-01 1.72799602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580888479 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:46.30, Y:9.56, Z:0.17 [[ 9.44339564e-01 -3.28953428e-01 -3.52563853e-03 4.62951062e+01] [ 3.28950677e-01 9.44346138e-01 -1.35028994e-03 9.56316136e+00] [ 3.77360564e-03 1.15371031e-04 9.99992873e-01 1.71539158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610888479 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:46.32, Y:9.57, Z:0.17 [[ 9.45093607e-01 -3.26780731e-01 -3.52525513e-03 4.63205793e+01] [ 3.26777961e-01 9.45100174e-01 -1.35129015e-03 9.57490012e+00] [ 3.77329482e-03 1.25119999e-04 9.99992873e-01 1.68769957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640888479 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:46.35, Y:9.59, Z:0.17 [[ 9.46563744e-01 -3.22497523e-01 -3.52513656e-03 4.63465600e+01] [ 3.22494722e-01 9.46570297e-01 -1.35159941e-03 9.58636982e+00] [ 3.77267702e-03 1.42537060e-04 9.99992873e-01 1.69285959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670888479 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:46.37, Y:9.60, Z:0.17 [[ 9.47240063e-01 -3.20505598e-01 -3.52476722e-03 4.63722747e+01] [ 3.20502780e-01 9.47246609e-01 -1.35256191e-03 9.59753216e+00] [ 3.77232746e-03 1.51503133e-04 9.99992873e-01 1.71571329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700888479 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:46.40, Y:9.61, Z:0.17 [[ 9.47937162e-01 -3.18437930e-01 -3.52438697e-03 4.63968585e+01] [ 3.18435094e-01 9.47943700e-01 -1.35355199e-03 9.61140461e+00] [ 3.77194272e-03 1.60793737e-04 9.99992873e-01 1.70027921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730888479 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:46.42, Y:9.62, Z:0.17 [[ 9.48140006e-01 -3.17833464e-01 -3.52400556e-03 4.64224197e+01] [ 3.17830620e-01 9.48146541e-01 -1.35454428e-03 9.62267256e+00] [ 3.77179318e-03 1.64260749e-04 9.99992873e-01 1.68927567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760888479 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:46.45, Y:9.63, Z:0.17 [[ 9.48158189e-01 -3.17779220e-01 -3.52362541e-03 4.64479743e+01] [ 3.17776372e-01 9.48164722e-01 -1.35553247e-03 9.63273928e+00] [ 3.77173736e-03 1.65534318e-04 9.99992873e-01 1.67468085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790888479 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:46.47, Y:9.64, Z:0.17 [[ 9.47741110e-01 -3.19020960e-01 -3.52344885e-03 4.64745418e+01] [ 3.19018119e-01 9.47747646e-01 -1.35599123e-03 9.64275525e+00] [ 3.77192998e-03 1.61084611e-04 9.99992873e-01 1.67882391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820888479 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:46.50, Y:9.65, Z:0.17 [[ 9.47375792e-01 -3.20104195e-01 -3.52307233e-03 4.65009263e+01] [ 3.20101358e-01 9.47382330e-01 -1.35696880e-03 9.65288676e+00] [ 3.77206788e-03 1.57819152e-04 9.99992873e-01 1.68887403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850888479 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:46.53, Y:9.66, Z:0.17 [[ 9.46430791e-01 -3.22887518e-01 -3.52269612e-03 4.65265683e+01] [ 3.22884696e-01 9.46437335e-01 -1.35794473e-03 9.66391764e+00] [ 3.77247453e-03 1.47776036e-04 9.99992873e-01 1.68320953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880888479 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:46.55, Y:9.67, Z:0.17 [[ 9.45935062e-01 -3.24336941e-01 -3.52231571e-03 4.65526180e+01] [ 3.24334126e-01 9.45941609e-01 -1.35893075e-03 9.67449402e+00] [ 3.77265643e-03 1.43053055e-04 9.99992873e-01 1.66464045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910888479 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:46.58, Y:9.68, Z:0.17 [[ 9.45688867e-01 -3.25054089e-01 -3.52213825e-03 4.65790940e+01] [ 3.25051277e-01 9.45695416e-01 -1.35939054e-03 9.68412460e+00] [ 3.77274545e-03 1.40684968e-04 9.99992873e-01 1.68697017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940888479 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:46.61, Y:9.69, Z:0.17 [[ 9.45376650e-01 -3.25961021e-01 -3.52175632e-03 4.66059910e+01] [ 3.25958211e-01 9.45383200e-01 -1.36037929e-03 9.69354703e+00] [ 3.77283988e-03 1.38125428e-04 9.99992873e-01 1.70392885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970888479 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:46.63, Y:9.70, Z:0.17 [[ 9.44715216e-01 -3.27873086e-01 -3.52142307e-03 4.66311895e+01] [ 3.27870287e-01 9.44721770e-01 -1.36124136e-03 9.70279985e+00] [ 3.77307945e-03 1.31415435e-04 9.99992873e-01 1.70356191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000888479 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:46.66, Y:9.71, Z:0.17 [[ 9.44708175e-01 -3.27893374e-01 -3.52116418e-03 4.66566350e+01] [ 3.27890572e-01 9.44714728e-01 -1.36191071e-03 9.71367158e+00] [ 3.77305716e-03 1.32051647e-04 9.99992873e-01 1.71064824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030888479 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:46.68, Y:9.73, Z:0.17 [[ 9.44398237e-01 -3.28784998e-01 -3.52080128e-03 4.66829188e+01] [ 3.28782199e-01 9.44404791e-01 -1.36284823e-03 9.72610000e+00] [ 3.77314565e-03 1.29494680e-04 9.99992873e-01 1.69018822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060888479 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:46.71, Y:9.74, Z:0.17 [[ 9.44190760e-01 -3.29380349e-01 -3.52046617e-03 4.67084579e+01] [ 3.29377551e-01 9.44197315e-01 -1.36371334e-03 9.73503557e+00] [ 3.77319508e-03 1.28043014e-04 9.99992873e-01 1.68536676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090888479 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:46.74, Y:9.74, Z:0.17 [[ 9.44245807e-01 -3.29222513e-01 -3.52030019e-03 4.67352223e+01] [ 3.29219713e-01 9.44252360e-01 -1.36414166e-03 9.74366284e+00] [ 3.77315791e-03 1.29132829e-04 9.99992873e-01 1.68993016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120888479 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:46.76, Y:9.75, Z:0.17 [[ 9.44524166e-01 -3.28423064e-01 -3.52018572e-03 4.67633462e+01] [ 3.28420256e-01 9.44530716e-01 -1.36443700e-03 9.75242915e+00] [ 3.77303612e-03 1.32643419e-04 9.99992873e-01 1.71404049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150888479 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:46.79, Y:9.76, Z:0.17 [[ 9.44378157e-01 -3.28842678e-01 -3.51987665e-03 4.67890312e+01] [ 3.28839870e-01 9.44384707e-01 -1.36523384e-03 9.76267245e+00] [ 3.77306484e-03 1.31821232e-04 9.99992873e-01 1.69740467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.180888479 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:46.82, Y:9.77, Z:0.17 [[ 9.44285650e-01 -3.29108227e-01 -3.51949172e-03 4.68156502e+01] [ 3.29105417e-01 9.44292199e-01 -1.36622545e-03 9.77308320e+00] [ 3.77306461e-03 1.31823297e-04 9.99992873e-01 1.69847992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210888479 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:46.84, Y:9.78, Z:0.17 [[ 9.44313307e-01 -3.29028864e-01 -3.51910726e-03 4.68418198e+01] [ 3.29026051e-01 9.44319855e-01 -1.36721503e-03 9.78313409e+00] [ 3.77301606e-03 1.33201382e-04 9.99992873e-01 1.70388555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240888479 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:46.87, Y:9.79, Z:0.17 [[ 9.44837760e-01 -3.27519809e-01 -3.51872001e-03 4.68688591e+01] [ 3.27516982e-01 9.44844302e-01 -1.36821094e-03 9.79168834e+00] [ 3.77275874e-03 1.40296799e-04 9.99992873e-01 1.73018419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270888479 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:46.90, Y:9.80, Z:0.17 [[ 9.44802605e-01 -3.27621211e-01 -3.51859997e-03 4.68950749e+01] [ 3.27618383e-01 9.44809146e-01 -1.36851959e-03 9.80081793e+00] [ 3.77276147e-03 1.40222841e-04 9.99992873e-01 1.71231065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300888479 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:46.92, Y:9.81, Z:0.17 [[ 9.44310375e-01 -3.29037288e-01 -3.51848117e-03 4.69224057e+01] [ 3.29034468e-01 9.44316920e-01 -1.36882496e-03 9.80939338e+00] [ 3.77295575e-03 1.34894029e-04 9.99992873e-01 1.68461458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330888479 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:46.95, Y:9.82, Z:0.17 [[ 9.44884291e-01 -3.27385594e-01 -3.51411415e-03 4.69502496e+01] [ 3.27382722e-01 9.44890813e-01 -1.38004570e-03 9.81786183e+00] [ 3.77226126e-03 1.53523250e-04 9.99992873e-01 1.74125844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360888479 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:46.98, Y:9.83, Z:0.18 [[ 9.45274855e-01 -3.26256140e-01 -3.51833716e-03 4.69762766e+01] [ 3.26253300e-01 9.45281392e-01 -1.36919408e-03 9.82660598e+00] [ 3.77252662e-03 1.46395624e-04 9.99992873e-01 1.77733876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390888479 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:47.00, Y:9.84, Z:0.18 [[ 9.45145430e-01 -3.26630889e-01 -3.51822127e-03 4.70025540e+01] [ 3.26628050e-01 9.45151967e-01 -1.36949180e-03 9.83734561e+00] [ 3.77257208e-03 1.45219162e-04 9.99992873e-01 1.76534689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420888479 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:47.03, Y:9.85, Z:0.18 [[ 9.45690416e-01 -3.25049629e-01 -3.51783967e-03 4.70288938e+01] [ 3.25046776e-01 9.45696947e-01 -1.37047133e-03 9.84586273e+00] [ 3.77228143e-03 1.52579161e-04 9.99992873e-01 1.78462045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450888479 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:47.05, Y:9.86, Z:0.18 [[ 9.45719662e-01 -3.24964533e-01 -3.51745991e-03 4.70540459e+01] [ 3.24961676e-01 9.45726191e-01 -1.37144534e-03 9.85521300e+00] [ 3.77222505e-03 1.53963155e-04 9.99992873e-01 1.75209763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480888479 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:47.08, Y:9.86, Z:0.18 [[ 9.46264597e-01 -3.23374306e-01 -3.51729531e-03 4.70813978e+01] [ 3.23371436e-01 9.46271120e-01 -1.37186734e-03 9.86378927e+00] [ 3.77194162e-03 1.60756662e-04 9.99992873e-01 1.77225803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510888479 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:47.11, Y:9.87, Z:0.18 [[ 9.46475570e-01 -3.22756297e-01 -3.51696822e-03 4.71082740e+01] [ 3.22753419e-01 9.46482090e-01 -1.37270537e-03 9.87346878e+00] [ 3.77179673e-03 1.64118584e-04 9.99992873e-01 1.79301988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540888479 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:47.13, Y:9.88, Z:0.17 [[ 9.46287173e-01 -3.23308243e-01 -3.51658540e-03 4.71340753e+01] [ 3.23305366e-01 9.46293693e-01 -1.37368538e-03 9.88408982e+00] [ 3.77184639e-03 1.62969926e-04 9.99992873e-01 1.74025663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570888479 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:47.16, Y:9.90, Z:0.17 [[ 9.46521021e-01 -3.22622985e-01 -3.51646703e-03 4.71605372e+01] [ 3.22620102e-01 9.46527539e-01 -1.37398832e-03 9.89581892e+00] [ 3.77171310e-03 1.66025873e-04 9.99992873e-01 1.71974953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600888479 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:47.19, Y:9.91, Z:0.17 [[ 9.47033874e-01 -3.21114431e-01 -3.51613358e-03 4.71869108e+01] [ 3.21111534e-01 9.47040386e-01 -1.37484112e-03 9.90545459e+00] [ 3.77140182e-03 1.72950062e-04 9.99992873e-01 1.74290930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630888479 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:47.21, Y:9.92, Z:0.17 [[ 9.47072299e-01 -3.21001087e-01 -3.51601568e-03 4.72129320e+01] [ 3.20998188e-01 9.47078810e-01 -1.37514255e-03 9.91517074e+00] [ 3.77136620e-03 1.73724753e-04 9.99992873e-01 1.73105743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660888479 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:47.24, Y:9.92, Z:0.17 [[ 9.47472247e-01 -3.19818671e-01 -3.51563013e-03 4.72394492e+01] [ 3.19815760e-01 9.47478752e-01 -1.37612753e-03 9.92313651e+00] [ 3.77109613e-03 1.79488722e-04 9.99992873e-01 1.74576985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690888479 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:47.27, Y:9.93, Z:0.18 [[ 9.47578288e-01 -3.19504353e-01 -3.51524256e-03 4.72660492e+01] [ 3.19501437e-01 9.47584791e-01 -1.37711686e-03 9.93301527e+00] [ 3.77098521e-03 1.81800993e-04 9.99992873e-01 1.75416697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720888479 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:47.29, Y:9.94, Z:0.17 [[ 9.47431782e-01 -3.19938533e-01 -3.51485375e-03 4.72923761e+01] [ 3.19935616e-01 9.47438284e-01 -1.37810851e-03 9.94358857e+00] [ 3.77101702e-03 1.81136898e-04 9.99992873e-01 1.73173063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750888479 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:47.32, Y:9.95, Z:0.17 [[ 9.47464660e-01 -3.19841158e-01 -3.51446385e-03 4.73188750e+01] [ 3.19838237e-01 9.47471161e-01 -1.37910211e-03 9.95283318e+00] [ 3.77094676e-03 1.82590593e-04 9.99992873e-01 1.73199405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780888479 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:47.34, Y:9.96, Z:0.17 [[ 9.47385607e-01 -3.20075242e-01 -3.51434316e-03 4.73446864e+01] [ 3.20072321e-01 9.47392108e-01 -1.37940960e-03 9.96218614e+00] [ 3.77097584e-03 1.81988828e-04 9.99992873e-01 1.71353188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810888479 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:47.37, Y:9.97, Z:0.17 [[ 9.47058603e-01 -3.21041512e-01 -3.51422467e-03 4.73715917e+01] [ 3.21038597e-01 9.47065106e-01 -1.37971140e-03 9.97007367e+00] [ 3.77114420e-03 1.78465789e-04 9.99992873e-01 1.72049581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840888479 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:47.40, Y:9.98, Z:0.17 [[ 9.46859215e-01 -3.21629103e-01 -3.51385338e-03 4.73980634e+01] [ 3.21626189e-01 9.46865718e-01 -1.38065635e-03 9.97918698e+00] [ 3.77120657e-03 1.77139920e-04 9.99992873e-01 1.72010556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:47.42, Y:9.99, Z:0.17 [[ 9.46517452e-01 -3.22633489e-01 -3.51347472e-03 4.74240683e+01] [ 3.22630578e-01 9.46523957e-01 -1.38161931e-03 9.98873548e+00] [ 3.77134465e-03 1.74172407e-04 9.99992873e-01 1.70564716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900888479 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:47.45, Y:10.00, Z:0.17 [[ 9.46265702e-01 -3.23371117e-01 -3.51309776e-03 4.74508880e+01] [ 3.23368207e-01 9.46272208e-01 -1.38257714e-03 9.99823913e+00] [ 3.77143229e-03 1.72261203e-04 9.99992873e-01 1.71513358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.930888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:47.48, Y:10.01, Z:0.17 [[ 9.45599984e-01 -3.25312666e-01 -3.51276509e-03 4.74770457e+01] [ 3.25309766e-01 9.45606494e-01 -1.38342186e-03 1.00063588e+01] [ 3.77173813e-03 1.65426899e-04 9.99992873e-01 1.72526773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960888479 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:47.50, Y:10.01, Z:0.17 [[ 9.45199125e-01 -3.26475538e-01 -3.51238247e-03 4.75026965e+01] [ 3.26472643e-01 9.45205637e-01 -1.38439260e-03 1.00148198e+01] [ 3.77189403e-03 1.61829887e-04 9.99992873e-01 1.71188898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:47.53, Y:10.02, Z:0.18 [[ 9.44394903e-01 -3.28794665e-01 -3.51212354e-03 4.75310678e+01] [ 3.28791784e-01 9.44401421e-01 -1.38504920e-03 1.00216195e+01] [ 3.77225125e-03 1.53276045e-04 9.99992873e-01 1.76292350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:47.56, Y:10.03, Z:0.18 [[ 9.44012966e-01 -3.29889660e-01 -3.51177098e-03 4.75568295e+01] [ 3.29886783e-01 9.44019486e-01 -1.38594252e-03 1.00296100e+01] [ 3.77238834e-03 1.49860880e-04 9.99992873e-01 1.76242179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050888479 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:47.58, Y:10.04, Z:0.18 [[ 9.43695933e-01 -3.30795487e-01 -3.51160026e-03 4.75837519e+01] [ 3.30792614e-01 9.43702456e-01 -1.38637495e-03 1.00386059e+01] [ 3.77251236e-03 1.46704976e-04 9.99992873e-01 1.76644915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:47.61, Y:10.05, Z:0.18 [[ 9.43324879e-01 -3.31852141e-01 -3.51122792e-03 4.76100848e+01] [ 3.31849273e-01 9.43331403e-01 -1.38731733e-03 1.00482102e+01] [ 3.77263578e-03 1.43492522e-04 9.99992873e-01 1.77592259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:47.64, Y:10.06, Z:0.18 [[ 9.43106064e-01 -3.32473497e-01 -3.51083729e-03 4.76363744e+01] [ 3.32470629e-01 9.43112588e-01 -1.38830518e-03 1.00568440e+01] [ 3.77268952e-03 1.42068751e-04 9.99992873e-01 1.77262951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140888479 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:47.66, Y:10.07, Z:0.18 [[ 9.42987175e-01 -3.32810551e-01 -3.51071660e-03 4.76620784e+01] [ 3.32807684e-01 9.42993700e-01 -1.38861031e-03 1.00654957e+01] [ 3.77272779e-03 1.41048250e-04 9.99992873e-01 1.75577009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:47.69, Y:10.07, Z:0.18 [[ 9.43405289e-01 -3.31623487e-01 -3.51055031e-03 4.76894196e+01] [ 3.31620610e-01 9.43411809e-01 -1.38903057e-03 1.00731063e+01] [ 3.77252978e-03 1.46247949e-04 9.99992873e-01 1.77340630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:10.08, Z:0.18 [[ 9.43679209e-01 -3.30843207e-01 -3.51043253e-03 4.77160285e+01] [ 3.30840324e-01 9.43685726e-01 -1.38932816e-03 1.00826096e+01] [ 3.77239486e-03 1.49687468e-04 9.99992873e-01 1.76989602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:47.74, Y:10.09, Z:0.18 [[ 9.44056851e-01 -3.29764069e-01 -3.51005624e-03 4.77417382e+01] [ 3.29761175e-01 9.44063364e-01 -1.39027820e-03 1.00919098e+01] [ 3.77217930e-03 1.55021393e-04 9.99992873e-01 1.75608697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.77, Y:10.10, Z:0.18 [[ 9.44481127e-01 -3.28546923e-01 -3.50989364e-03 4.77680658e+01] [ 3.28544019e-01 9.44487635e-01 -1.39068857e-03 1.01018451e+01] [ 3.77195760e-03 1.60324546e-04 9.99992873e-01 1.77126419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290888479 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:47.79, Y:10.11, Z:0.17 [[ 9.44842573e-01 -3.27506024e-01 -3.50951676e-03 4.77928474e+01] [ 3.27503110e-01 9.44849076e-01 -1.39163902e-03 1.01114679e+01] [ 3.77173383e-03 1.65502136e-04 9.99992873e-01 1.73128659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:47.82, Y:10.12, Z:0.18 [[ 9.45752672e-01 -3.24868610e-01 -3.50285745e-03 4.78208761e+01] [ 3.24865615e-01 9.45759139e-01 -1.40841902e-03 1.01209295e+01] [ 3.77041057e-03 1.94058113e-04 9.99992873e-01 1.77561504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350888479 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:47.85, Y:10.13, Z:0.18 [[ 9.45956926e-01 -3.24273312e-01 -3.50902287e-03 4.78479918e+01] [ 3.24270370e-01 9.45963417e-01 -1.39288680e-03 1.01289009e+01] [ 3.77108328e-03 1.79738772e-04 9.99992873e-01 1.78211195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.87, Y:10.14, Z:0.17 [[ 9.45105890e-01 -3.26745383e-01 -3.50863225e-03 4.78739776e+01] [ 3.26742455e-01 9.45112388e-01 -1.39387007e-03 1.01388175e+01] [ 3.77149241e-03 1.70935695e-04 9.99992873e-01 1.73467726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:47.90, Y:10.15, Z:0.18 [[ 9.45372390e-01 -3.25973562e-01 -3.50436921e-03 4.79015604e+01] [ 3.25970589e-01 9.45378867e-01 -1.40459550e-03 1.01482613e+01] [ 3.77081759e-03 1.85544513e-04 9.99992873e-01 1.77757173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.93, Y:10.16, Z:0.18 [[ 9.44949638e-01 -3.27196994e-01 -3.50822970e-03 4.79274553e+01] [ 3.27194065e-01 9.44956135e-01 -1.39488612e-03 1.01583653e+01] [ 3.77152572e-03 1.70225199e-04 9.99992873e-01 1.78444215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:47.95, Y:10.17, Z:0.18 [[ 9.44131650e-01 -3.29549878e-01 -3.50783641e-03 4.79534681e+01] [ 3.29546962e-01 9.44138153e-01 -1.39587445e-03 1.01696385e+01] [ 3.77189244e-03 1.61892418e-04 9.99992873e-01 1.75837441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:47.98, Y:10.18, Z:0.17 [[ 9.43292844e-01 -3.31943229e-01 -3.50744168e-03 4.79789342e+01] [ 3.31940326e-01 9.43299353e-01 -1.39686558e-03 1.01780333e+01] [ 3.77224754e-03 1.53391974e-04 9.99992873e-01 1.74543866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:48.01, Y:10.19, Z:0.18 [[ 9.42846299e-01 -3.33209476e-01 -3.50727181e-03 4.80058688e+01] [ 3.33206580e-01 9.42852811e-01 -1.39729197e-03 1.01869732e+01] [ 3.77243201e-03 1.48785516e-04 9.99992873e-01 1.76327248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.03, Y:10.20, Z:0.18 [[ 9.42266342e-01 -3.34845998e-01 -3.50688039e-03 4.80322550e+01] [ 3.34843110e-01 9.42272857e-01 -1.39827367e-03 1.01959302e+01] [ 3.77264454e-03 1.43291481e-04 9.99992873e-01 1.78016322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:48.06, Y:10.21, Z:0.18 [[ 9.41812112e-01 -3.36121478e-01 -3.50669683e-03 4.80586463e+01] [ 3.36118596e-01 9.41818631e-01 -1.39873385e-03 1.02055672e+01] [ 3.77281690e-03 1.38678467e-04 9.99992873e-01 1.79457093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:48.08, Y:10.22, Z:0.18 [[ 9.41241616e-01 -3.37715746e-01 -3.50630831e-03 4.80835282e+01] [ 3.37712872e-01 9.41248138e-01 -1.39970711e-03 1.02164973e+01] [ 3.77300930e-03 1.33337132e-04 9.99992873e-01 1.78143650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:48.11, Y:10.23, Z:0.18 [[ 9.41177078e-01 -3.37895569e-01 -3.50614041e-03 4.81095045e+01] [ 3.37892694e-01 9.41183599e-01 -1.40012756e-03 1.02280413e+01] [ 3.77301875e-03 1.33068742e-04 9.99992873e-01 1.78080909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:10.24, Z:0.17 [[ 9.42589139e-01 -3.33936260e-01 -3.50574881e-03 4.81450598e+01] [ 3.33933354e-01 9.42595646e-01 -1.40110740e-03 1.02365367e+01] [ 3.77238413e-03 1.49982159e-04 9.99992873e-01 1.74526990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:48.16, Y:10.25, Z:0.17 [[ 9.41445937e-01 -3.37145443e-01 -3.53534094e-03 4.81613394e+01] [ 3.37142836e-01 9.41452573e-01 -1.32693087e-03 1.02490734e+01] [ 3.77572452e-03 5.73188020e-05 9.99992870e-01 1.74018376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.19, Y:10.26, Z:0.17 [[ 9.41583406e-01 -3.36761640e-01 -3.50523558e-03 4.81875665e+01] [ 3.36758750e-01 9.41589920e-01 -1.40218922e-03 1.02592659e+01] [ 3.77269803e-03 1.39859348e-04 9.99992874e-01 1.72578067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:48.21, Y:10.27, Z:0.17 [[ 9.41546315e-01 -3.36865335e-01 -3.50485383e-03 4.82136389e+01] [ 3.36862442e-01 9.41552827e-01 -1.40314278e-03 1.02703903e+01] [ 3.77267519e-03 1.40470291e-04 9.99992874e-01 1.72030998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:10.28, Z:0.17 [[ 9.42663679e-01 -3.33725797e-01 -3.50447119e-03 4.82513812e+01] [ 3.33722878e-01 9.42670180e-01 -1.40409780e-03 1.02779716e+01] [ 3.77214414e-03 1.54069787e-04 9.99992874e-01 1.69740604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:48.27, Y:10.29, Z:0.17 [[ 9.40929563e-01 -3.38583862e-01 -3.53923510e-03 4.82655941e+01] [ 3.38581302e-01 9.40936218e-01 -1.31716758e-03 1.02921465e+01] [ 3.77616617e-03 4.10430829e-05 9.99992869e-01 1.72010140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.29, Y:10.30, Z:0.17 [[ 9.40510388e-01 -3.39746865e-01 -3.50391723e-03 4.82921143e+01] [ 3.39743984e-01 9.40516906e-01 -1.40523200e-03 1.03023825e+01] [ 3.77291656e-03 1.31200490e-04 9.99992874e-01 1.73424232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.33, Y:10.31, Z:0.17 [[ 9.41926110e-01 -3.35801918e-01 -3.50353375e-03 4.83329440e+01] [ 3.35799006e-01 9.41932614e-01 -1.40618745e-03 1.03082867e+01] [ 3.77229314e-03 1.48041526e-04 9.99992874e-01 1.70734900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:10.32, Z:0.18 [[ 9.39516129e-01 -3.42486311e-01 -3.54530375e-03 4.83471714e+01] [ 3.42483837e-01 9.39522819e-01 -1.30194165e-03 1.03221996e+01] [ 3.77679097e-03 8.98595161e-06 9.99992868e-01 1.77626419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:10.33, Z:0.18 [[ 9.41179573e-01 -3.37888656e-01 -3.50253364e-03 4.83880318e+01] [ 3.37885751e-01 9.41186079e-01 -1.40831280e-03 1.03287219e+01] [ 3.77238882e-03 1.42019029e-04 9.99992874e-01 1.75693522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:48.42, Y:10.34, Z:0.18 [[ 9.41023524e-01 -3.38322590e-01 -3.54303681e-03 4.84158216e+01] [ 3.38320065e-01 9.41030193e-01 -1.30728849e-03 1.03393875e+01] [ 3.77638984e-03 3.15087750e-05 9.99992869e-01 1.75819091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:10.35, Z:0.18 [[ 9.40408336e-01 -3.40028815e-01 -3.54495197e-03 4.84404545e+01] [ 3.40026321e-01 9.40415017e-01 -1.30251537e-03 1.03503020e+01] [ 3.77661883e-03 1.95193388e-05 9.99992868e-01 1.76565092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040888479 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:48.45, Y:10.37, Z:0.18 [[ 9.38348893e-01 -3.45671572e-01 -3.53830250e-03 4.84532340e+01] [ 3.45669055e-01 9.38355564e-01 -1.31905786e-03 1.03663737e+01] [ 3.77614664e-03 1.46547955e-05 9.99992870e-01 1.78838770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070888479 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:48.48, Y:10.38, Z:0.18 [[ 9.38253903e-01 -3.45929699e-01 -3.50089247e-03 4.84797103e+01] [ 3.45926836e-01 9.38260428e-01 -1.41182340e-03 1.03771838e+01] [ 3.77314051e-03 1.13596158e-04 9.99992875e-01 1.78905017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.51, Y:10.39, Z:0.18 [[ 9.37565314e-01 -3.47791644e-01 -3.50050434e-03 4.85061157e+01] [ 3.47788791e-01 9.37571843e-01 -1.41278508e-03 1.03875636e+01] [ 3.77332915e-03 1.07142117e-04 9.99992875e-01 1.80883675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.55, Y:10.39, Z:0.18 [[ 9.39641284e-01 -3.42143254e-01 -3.50011830e-03 4.85492327e+01] [ 3.42140358e-01 9.39647794e-01 -1.41374085e-03 1.03921616e+01] [ 3.77258033e-03 1.30877542e-04 9.99992875e-01 1.81762122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:10.41, Z:0.18 [[ 9.36946529e-01 -3.49454700e-01 -3.55171565e-03 4.85590908e+01] [ 3.49452338e-01 9.36953260e-01 -1.28553965e-03 1.04074376e+01] [ 3.77702942e-03 -3.66734269e-05 9.99992866e-01 1.81945413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:48.58, Y:10.42, Z:0.18 [[ 9.36717899e-01 -3.50067609e-01 -3.49964063e-03 4.85844519e+01] [ 3.50064766e-01 9.36724431e-01 -1.41438957e-03 1.04176796e+01] [ 3.77333085e-03 9.97831475e-05 9.99992876e-01 1.80056465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:48.61, Y:10.43, Z:0.18 [[ 9.36620021e-01 -3.50329404e-01 -3.49937978e-03 4.86106992e+01] [ 3.50326561e-01 9.36626552e-01 -1.41503465e-03 1.04288930e+01] [ 3.77334026e-03 9.94240986e-05 9.99992876e-01 1.78652269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:48.64, Y:10.44, Z:0.18 [[ 9.36483080e-01 -3.50695307e-01 -3.49899603e-03 4.86366081e+01] [ 3.50692462e-01 9.36489611e-01 -1.41598292e-03 1.04401844e+01] [ 3.77335200e-03 9.89725111e-05 9.99992876e-01 1.77522465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:48.66, Y:10.45, Z:0.18 [[ 9.36362596e-01 -3.51016879e-01 -3.49860168e-03 4.86615983e+01] [ 3.51014033e-01 9.36369127e-01 -1.41695662e-03 1.04500461e+01] [ 3.77335828e-03 9.87268929e-05 9.99992876e-01 1.76367053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.69, Y:10.46, Z:0.18 [[ 9.36077476e-01 -3.51776520e-01 -3.49842991e-03 4.86877076e+01] [ 3.51773677e-01 9.36084008e-01 -1.41738059e-03 1.04605564e+01] [ 3.77342550e-03 9.61224889e-05 9.99992876e-01 1.76392393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:48.71, Y:10.47, Z:0.17 [[ 9.34761001e-01 -3.55259953e-01 -3.49803454e-03 4.87098912e+01] [ 3.55257131e-01 9.34767543e-01 -1.41835566e-03 1.04704676e+01] [ 3.77373412e-03 8.31218440e-05 9.99992876e-01 1.71743828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370888479 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:48.74, Y:10.48, Z:0.17 [[ 9.34341519e-01 -3.56361900e-01 -3.48180735e-03 4.87352129e+01] [ 3.56358936e-01 9.34347998e-01 -1.45831805e-03 1.04809398e+01] [ 3.77290872e-03 1.21793939e-04 9.99992875e-01 1.71493499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.77, Y:10.49, Z:0.18 [[ 9.35405150e-01 -3.53560599e-01 -3.47957797e-03 4.87671921e+01] [ 3.53557596e-01 9.35411612e-01 -1.46380363e-03 1.04908080e+01] [ 3.77238093e-03 1.39018234e-04 9.99992875e-01 1.78632354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:10.50, Z:0.17 [[ 9.34010357e-01 -3.57228809e-01 -3.49726008e-03 4.87891041e+01] [ 3.57225994e-01 9.34016901e-01 -1.42026317e-03 1.05004885e+01] [ 3.77385894e-03 7.72283015e-05 9.99992876e-01 1.74357638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.460888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.81, Y:10.51, Z:0.17 [[ 9.33935515e-01 -3.57424611e-01 -3.47868723e-03 4.88127088e+01] [ 3.57421627e-01 9.33941985e-01 -1.46597168e-03 1.05112958e+01] [ 3.77286642e-03 1.25764970e-04 9.99992875e-01 1.74065498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.85, Y:10.52, Z:0.18 [[ 9.35276166e-01 -3.53901777e-01 -3.46787184e-03 4.88451777e+01] [ 3.53898669e-01 9.35282580e-01 -1.49256055e-03 1.05245050e+01] [ 3.77165995e-03 1.68681077e-04 9.99992873e-01 1.76460427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520888479 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:48.86, Y:10.53, Z:0.17 [[ 9.33926043e-01 -3.57449178e-01 -3.49736425e-03 4.88644336e+01] [ 3.57446365e-01 9.33932588e-01 -1.41991860e-03 1.05335837e+01] [ 3.77385119e-03 7.59788161e-05 9.99992876e-01 1.72505799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:48.90, Y:10.55, Z:0.18 [[ 9.35212327e-01 -3.54070444e-01 -3.46743610e-03 4.88989587e+01] [ 3.54067335e-01 9.35218740e-01 -1.49342010e-03 1.05451454e+01] [ 3.77158713e-03 1.68959029e-04 9.99992873e-01 1.77479058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580888479 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:48.93, Y:10.55, Z:0.18 [[ 9.35040966e-01 -3.54522445e-01 -3.49687421e-03 4.89255409e+01] [ 3.54519609e-01 9.35047500e-01 -1.42097600e-03 1.05542002e+01] [ 3.77351137e-03 8.89602979e-05 9.99992876e-01 1.79896527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:48.94, Y:10.57, Z:0.18 [[ 9.33183387e-01 -3.59383556e-01 -3.49647721e-03 4.89427096e+01] [ 3.59380750e-01 9.33189935e-01 -1.42195218e-03 1.05651925e+01] [ 3.77390357e-03 7.03755505e-05 9.99992876e-01 1.76403197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.640888479 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:48.97, Y:10.58, Z:0.18 [[ 9.33078707e-01 -3.59655565e-01 -3.46419211e-03 4.89681593e+01] [ 3.59652466e-01 9.33085125e-01 -1.50116598e-03 1.05771309e+01] [ 3.77228882e-03 1.54800778e-04 9.99992873e-01 1.76532882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:10.59, Z:0.18 [[ 9.35449243e-01 -3.53444094e-01 -3.46216489e-03 4.90050000e+01] [ 3.53440933e-01 9.35455631e-01 -1.50613771e-03 1.05875751e+01] [ 3.77103712e-03 1.85244593e-04 9.99992872e-01 1.80609523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:49.03, Y:10.60, Z:0.18 [[ 9.36292550e-01 -3.51203697e-01 -3.49620619e-03 4.90289644e+01] [ 3.51200831e-01 9.36299072e-01 -1.42246960e-03 1.05997412e+01] [ 3.77307120e-03 1.03977166e-04 9.99992877e-01 1.77433988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:49.05, Y:10.61, Z:0.17 [[ 9.36290127e-01 -3.51210160e-01 -3.49603419e-03 4.90540506e+01] [ 3.51207293e-01 9.36296648e-01 -1.42289220e-03 1.06097823e+01] [ 3.77305929e-03 1.04407213e-04 9.99992877e-01 1.72976710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.08, Y:10.62, Z:0.18 [[ 9.36877195e-01 -3.49641158e-01 -3.49041716e-03 4.90817542e+01] [ 3.49638229e-01 9.36883688e-01 -1.43668325e-03 1.06215276e+01] [ 3.77243849e-03 1.25612503e-04 9.99992876e-01 1.75945785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.11, Y:10.63, Z:0.18 [[ 9.36782032e-01 -3.49895992e-01 -3.49565360e-03 4.91078401e+01] [ 3.49893112e-01 9.36788547e-01 -1.42382720e-03 1.06317573e+01] [ 3.77287969e-03 1.10710619e-04 9.99992877e-01 1.75995361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:10.64, Z:0.17 [[ 9.35677709e-01 -3.52838502e-01 -3.49525421e-03 4.91314099e+01] [ 3.52835639e-01 9.35684232e-01 -1.42480696e-03 1.06417392e+01] [ 3.77318101e-03 9.99098547e-05 9.99992877e-01 1.73049558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.16, Y:10.65, Z:0.18 [[ 9.36192209e-01 -3.51471234e-01 -3.48135911e-03 4.91599864e+01] [ 3.51468235e-01 9.36198671e-01 -1.45884666e-03 1.06534055e+01] [ 3.77198640e-03 1.42173735e-04 9.99992876e-01 1.77474874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:49.19, Y:10.66, Z:0.18 [[ 9.35820870e-01 -3.52458630e-01 -3.49475034e-03 4.91862938e+01] [ 3.52455760e-01 9.35827390e-01 -1.42602893e-03 1.06639416e+01] [ 3.77309930e-03 1.02762749e-04 9.99992877e-01 1.79057985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:49.21, Y:10.67, Z:0.18 [[ 9.35842663e-01 -3.52400763e-01 -3.49462687e-03 4.92113202e+01] [ 3.52397892e-01 9.35849182e-01 -1.42633146e-03 1.06742203e+01] [ 3.77308399e-03 1.03322689e-04 9.99992877e-01 1.79059093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:49.24, Y:10.69, Z:0.18 [[ 9.35773046e-01 -3.52585587e-01 -3.49445472e-03 4.92363273e+01] [ 3.52582715e-01 9.35779565e-01 -1.42675310e-03 1.06861280e+01] [ 3.77309189e-03 1.03032763e-04 9.99992877e-01 1.78258599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:49.25, Y:10.70, Z:0.17 [[ 9.34107740e-01 -3.56974120e-01 -3.49405927e-03 4.92527194e+01] [ 3.56971276e-01 9.34114270e-01 -1.42772086e-03 1.06984777e+01] [ 3.77351003e-03 8.63663117e-05 9.99992877e-01 1.72114154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.000888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:49.27, Y:10.71, Z:0.17 [[ 9.34763210e-01 -3.55254492e-01 -3.46214360e-03 4.92748453e+01] [ 3.55251344e-01 9.34769605e-01 -1.50593276e-03 1.07104488e+01] [ 3.77129599e-03 1.77759376e-04 9.99992873e-01 1.69078853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:49.31, Y:10.72, Z:0.17 [[ 9.37718083e-01 -3.47380086e-01 -3.44562626e-03 4.93142603e+01] [ 3.47376736e-01 9.37724379e-01 -1.54641453e-03 1.07207059e+01] [ 3.76824136e-03 2.53170468e-04 9.99992868e-01 1.74241499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:49.34, Y:10.73, Z:0.17 [[ 9.37845207e-01 -3.47036229e-01 -3.49634850e-03 4.93401721e+01] [ 3.47033338e-01 9.37851716e-01 -1.42167234e-03 1.07314858e+01] [ 3.77242825e-03 1.19959096e-04 9.99992877e-01 1.74348434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:49.36, Y:10.74, Z:0.17 [[ 9.38169736e-01 -3.46157948e-01 -3.49596611e-03 4.93649020e+01] [ 3.46155047e-01 9.38176241e-01 -1.42261204e-03 1.07431608e+01] [ 3.77228081e-03 1.24505253e-04 9.99992877e-01 1.73982848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.39, Y:10.75, Z:0.17 [[ 9.38148504e-01 -3.46215488e-01 -3.49570587e-03 4.93906557e+01] [ 3.46212585e-01 9.38155009e-01 -1.42325124e-03 1.07543606e+01] [ 3.77226559e-03 1.24963655e-04 9.99992877e-01 1.74620736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:49.42, Y:10.77, Z:0.17 [[ 9.37996352e-01 -3.46627503e-01 -3.49531389e-03 4.94174288e+01] [ 3.46624600e-01 9.38002856e-01 -1.42421322e-03 1.07665218e+01] [ 3.77228589e-03 1.24345027e-04 9.99992877e-01 1.73545320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.180888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:49.44, Y:10.78, Z:0.17 [[ 9.37984867e-01 -3.46658586e-01 -3.49496244e-03 4.94428284e+01] [ 3.46655679e-01 9.37991370e-01 -1.42507515e-03 1.07772840e+01] [ 3.77225914e-03 1.25150347e-04 9.99992877e-01 1.71365002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:49.47, Y:10.79, Z:0.17 [[ 9.37940132e-01 -3.46779606e-01 -3.49483824e-03 4.94699647e+01] [ 3.46776699e-01 9.37946634e-01 -1.42537968e-03 1.07885352e+01] [ 3.77226437e-03 1.24992333e-04 9.99992877e-01 1.71123743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240888479 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:49.50, Y:10.80, Z:0.17 [[ 9.37556328e-01 -3.47815928e-01 -3.49465683e-03 4.94965714e+01] [ 3.47813027e-01 9.37562833e-01 -1.42582430e-03 1.07986509e+01] [ 3.77238476e-03 1.21303423e-04 9.99992877e-01 1.72908555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:49.52, Y:10.81, Z:0.17 [[ 9.37167310e-01 -3.48862757e-01 -3.49426639e-03 4.95217441e+01] [ 3.48859859e-01 9.37173817e-01 -1.42678051e-03 1.08088898e+01] [ 3.77248555e-03 1.18122766e-04 9.99992877e-01 1.73592363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:49.55, Y:10.82, Z:0.17 [[ 9.36709001e-01 -3.50091472e-01 -3.49400047e-03 4.95477154e+01] [ 3.50088581e-01 9.36715511e-01 -1.42743141e-03 1.08196419e+01] [ 3.77261600e-03 1.13878184e-04 9.99992877e-01 1.74658266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:49.57, Y:10.83, Z:0.18 [[ 9.36378112e-01 -3.50975536e-01 -3.49361062e-03 4.95740959e+01] [ 3.50972647e-01 9.36384622e-01 -1.42838495e-03 1.08305001e+01] [ 3.77269143e-03 1.11346633e-04 9.99992877e-01 1.76257882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:49.60, Y:10.84, Z:0.18 [[ 9.36089714e-01 -3.51744005e-01 -3.49321377e-03 4.95998953e+01] [ 3.51741118e-01 9.36096225e-01 -1.42935481e-03 1.08409719e+01] [ 3.77275121e-03 1.09297416e-04 9.99992877e-01 1.78315925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.63, Y:10.85, Z:0.18 [[ 9.35672129e-01 -3.52853320e-01 -3.49309056e-03 4.96289623e+01] [ 3.52850440e-01 9.35678643e-01 -1.42965585e-03 1.08526466e+01] [ 3.77286905e-03 1.05150593e-04 9.99992877e-01 1.79919667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.65, Y:10.86, Z:0.18 [[ 9.35871631e-01 -3.52323779e-01 -3.49937051e-03 4.96534642e+01] [ 3.52320952e-01 9.35878169e-01 -1.41430934e-03 1.08629473e+01] [ 3.77327928e-03 9.07104421e-05 9.99992877e-01 1.79528047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450888479 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:49.68, Y:10.87, Z:0.18 [[ 9.35782724e-01 -3.52559914e-01 -3.49277965e-03 4.96795229e+01] [ 3.52557029e-01 9.35789237e-01 -1.43040300e-03 1.08733890e+01] [ 3.77280836e-03 1.07142402e-04 9.99992877e-01 1.80563739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.71, Y:10.88, Z:0.18 [[ 9.35522834e-01 -3.53248963e-01 -3.49238046e-03 4.97065288e+01] [ 3.53246078e-01 9.35529347e-01 -1.43137698e-03 1.08849250e+01] [ 3.77285684e-03 1.05416143e-04 9.99992877e-01 1.83638653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:49.73, Y:10.90, Z:0.18 [[ 9.35770239e-01 -3.52593058e-01 -3.49218690e-03 4.97314297e+01] [ 3.52590167e-01 9.35776749e-01 -1.43184905e-03 1.08981670e+01] [ 3.77276734e-03 1.08570967e-04 9.99992877e-01 1.79264185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540888479 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:49.76, Y:10.91, Z:0.18 [[ 9.35432412e-01 -3.53488345e-01 -3.49183261e-03 4.97569380e+01] [ 3.53485458e-01 9.35438923e-01 -1.43271253e-03 1.09106294e+01] [ 3.77284332e-03 1.05893693e-04 9.99992877e-01 1.79341789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:49.78, Y:10.92, Z:0.18 [[ 9.36129386e-01 -3.51638426e-01 -3.49142748e-03 4.97825076e+01] [ 3.51635522e-01 9.36135890e-01 -1.43369914e-03 1.09214708e+01] [ 3.77259428e-03 1.14417973e-04 9.99992877e-01 1.79246568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:49.81, Y:10.93, Z:0.18 [[ 9.36819292e-01 -3.49796265e-01 -3.49107839e-03 4.98084085e+01] [ 3.49793345e-01 9.36825788e-01 -1.43454868e-03 1.09319239e+01] [ 3.77233203e-03 1.22756889e-04 9.99992877e-01 1.79036872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:49.84, Y:10.94, Z:0.18 [[ 9.37195037e-01 -3.48788297e-01 -3.49089623e-03 4.98354177e+01] [ 3.48785368e-01 9.37201530e-01 -1.43499182e-03 1.09436296e+01] [ 3.77218164e-03 1.27293690e-04 9.99992877e-01 1.78714984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:49.86, Y:10.96, Z:0.18 [[ 9.38227896e-01 -3.46000335e-01 -3.49058144e-03 4.98615449e+01] [ 3.45997384e-01 9.38234378e-01 -1.43575712e-03 1.09568343e+01] [ 3.77175595e-03 1.39335336e-04 9.99992877e-01 1.76721245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.89, Y:10.97, Z:0.18 [[ 9.38625129e-01 -3.44921273e-01 -3.49023771e-03 4.98876662e+01] [ 3.44918312e-01 9.38631607e-01 -1.43659222e-03 1.09696903e+01] [ 3.77155865e-03 1.44574661e-04 9.99992877e-01 1.75957091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.91, Y:10.98, Z:0.17 [[ 9.39099580e-01 -3.43627414e-01 -3.48988776e-03 4.99124217e+01] [ 3.43624441e-01 9.39106052e-01 -1.43744185e-03 1.09820025e+01] [ 3.77131914e-03 1.50690302e-04 9.99992877e-01 1.73596656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:49.94, Y:11.00, Z:0.17 [[ 9.39623597e-01 -3.42191930e-01 -3.48976341e-03 4.99379721e+01] [ 3.42188945e-01 9.39630065e-01 -1.43774367e-03 1.09956733e+01] [ 3.77107090e-03 1.56779421e-04 9.99992877e-01 1.73940488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:11.01, Z:0.18 [[ 9.39633342e-01 -3.42165173e-01 -3.48941694e-03 4.99635108e+01] [ 3.42162186e-01 9.39639808e-01 -1.43858406e-03 1.10061631e+01] [ 3.77102843e-03 1.57795024e-04 9.99992877e-01 1.75139901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.99, Y:11.02, Z:0.18 [[ 9.39640815e-01 -3.42144656e-01 -3.48902146e-03 4.99893823e+01] [ 3.42141665e-01 9.39647279e-01 -1.43954259e-03 1.10159013e+01] [ 3.77098133e-03 1.58913363e-04 9.99992877e-01 1.76225147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.02, Y:11.03, Z:0.18 [[ 9.39199754e-01 -3.43353536e-01 -3.48889903e-03 5.00153715e+01] [ 3.43350552e-01 9.39206221e-01 -1.43983925e-03 1.10256322e+01] [ 3.77116957e-03 1.54381259e-04 9.99992877e-01 1.79173050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:11.04, Z:0.18 [[ 9.38995713e-01 -3.43911153e-01 -3.48851126e-03 5.00403564e+01] [ 3.43908169e-01 9.39002181e-01 -1.44077816e-03 1.10373694e+01] [ 3.77121936e-03 1.53156991e-04 9.99992877e-01 1.78933309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.07, Y:11.05, Z:0.18 [[ 9.38911133e-01 -3.44142000e-01 -3.48839096e-03 5.00651642e+01] [ 3.44139016e-01 9.38917601e-01 -1.44106936e-03 1.10509656e+01] [ 3.77124416e-03 1.52544626e-04 9.99992877e-01 1.77245017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.930888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.09, Y:11.06, Z:0.17 [[ 9.38291060e-01 -3.45829033e-01 -3.48801086e-03 5.00922175e+01] [ 3.45826058e-01 9.38297532e-01 -1.44198879e-03 1.10634622e+01] [ 3.77147357e-03 1.46760144e-04 9.99992877e-01 1.74594672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.12, Y:11.07, Z:0.17 [[ 9.38227144e-01 -3.46002341e-01 -3.49386406e-03 5.01176329e+01] [ 3.45999419e-01 9.38233640e-01 -1.42783341e-03 1.10741334e+01] [ 3.77209450e-03 1.30757127e-04 9.99992877e-01 1.74704732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.14, Y:11.08, Z:0.18 [[ 9.38489831e-01 -3.45289203e-01 -3.49345799e-03 5.01421176e+01] [ 3.45286273e-01 9.38496323e-01 -1.42881481e-03 1.10847815e+01] [ 3.77195180e-03 1.34685082e-04 9.99992877e-01 1.77502802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.17, Y:11.10, Z:0.18 [[ 9.37965721e-01 -3.46710465e-01 -3.48713375e-03 5.01681935e+01] [ 3.46707488e-01 9.37972192e-01 -1.44408638e-03 1.10962498e+01] [ 3.77151435e-03 1.45488135e-04 9.99992877e-01 1.79173473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.19, Y:11.11, Z:0.18 [[ 9.37657701e-01 -3.47542628e-01 -3.48672869e-03 5.01938595e+01] [ 3.47539653e-01 9.37664173e-01 -1.44506374e-03 1.11074162e+01] [ 3.77160182e-03 1.43198669e-04 9.99992877e-01 1.78996613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.22, Y:11.12, Z:0.18 [[ 9.36906932e-01 -3.49561502e-01 -3.48660368e-03 5.02186490e+01] [ 3.49558540e-01 9.36913410e-01 -1.44536530e-03 1.11198024e+01] [ 3.77188980e-03 1.35400673e-04 9.99992877e-01 1.76548586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:50.24, Y:11.13, Z:0.18 [[ 9.36516272e-01 -3.50606785e-01 -3.48647946e-03 5.02440278e+01] [ 3.50603829e-01 9.36522752e-01 -1.44566486e-03 1.11318692e+01] [ 3.77202725e-03 1.31515616e-04 9.99992877e-01 1.76498133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:50.27, Y:11.14, Z:0.18 [[ 9.36304790e-01 -3.51171165e-01 -3.48609740e-03 5.02685513e+01] [ 3.51168210e-01 9.36311271e-01 -1.44658559e-03 1.11431420e+01] [ 3.77207143e-03 1.30238429e-04 9.99992877e-01 1.76388618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.30, Y:11.15, Z:0.18 [[ 9.35794462e-01 -3.52528825e-01 -3.48593181e-03 5.02950644e+01] [ 3.52525878e-01 9.35800947e-01 -1.44698450e-03 1.11549004e+01] [ 3.77224204e-03 1.25198908e-04 9.99992877e-01 1.77165586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.32, Y:11.17, Z:0.18 [[ 9.35482302e-01 -3.53356353e-01 -3.48559762e-03 5.03219447e+01] [ 3.53353409e-01 9.35488788e-01 -1.44778908e-03 1.11668510e+01] [ 3.77232296e-03 1.22733257e-04 9.99992877e-01 1.77307064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.35, Y:11.18, Z:0.17 [[ 9.35010408e-01 -3.54603144e-01 -3.48527797e-03 5.03485822e+01] [ 3.54600205e-01 9.35016896e-01 -1.44855817e-03 1.11789382e+01] [ 3.77245707e-03 1.18536680e-04 9.99992877e-01 1.74574439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.37, Y:11.19, Z:0.17 [[ 9.34452077e-01 -3.56071862e-01 -3.48494993e-03 5.03743922e+01] [ 3.56068931e-01 9.34458568e-01 -1.44934694e-03 1.11905691e+01] [ 3.77261299e-03 1.13462861e-04 9.99992877e-01 1.74973804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.40, Y:11.20, Z:0.18 [[ 9.33159776e-01 -3.59444972e-01 -3.48482383e-03 5.04010545e+01] [ 3.59442063e-01 9.33166278e-01 -1.44965006e-03 1.12008134e+01] [ 3.77298951e-03 1.00162864e-04 9.99992877e-01 1.77302066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:50.43, Y:11.21, Z:0.18 [[ 9.32542051e-01 -3.61044572e-01 -3.48443020e-03 5.04277884e+01] [ 3.61041670e-01 9.32548556e-01 -1.45059561e-03 1.12104933e+01] [ 3.77313002e-03 9.47169088e-05 9.99992877e-01 1.77513547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.45, Y:11.22, Z:0.18 [[ 9.32030731e-01 -3.62362496e-01 -3.48408857e-03 5.04545026e+01] [ 3.62359601e-01 9.32037238e-01 -1.45141567e-03 1.12205008e+01] [ 3.77323890e-03 9.02710692e-05 9.99992877e-01 1.79311604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.48, Y:11.23, Z:0.18 [[ 9.31198693e-01 -3.64495347e-01 -3.48370385e-03 5.04802104e+01] [ 3.64492463e-01 9.31205206e-01 -1.45233849e-03 1.12314225e+01] [ 3.77341379e-03 8.26319047e-05 9.99992877e-01 1.80483982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:50.51, Y:11.24, Z:0.18 [[ 9.30799407e-01 -3.65513787e-01 -3.48358468e-03 5.05068398e+01] [ 3.65510909e-01 9.30805922e-01 -1.45262430e-03 1.12433867e+01] [ 3.77349545e-03 7.88136296e-05 9.99992877e-01 1.82941018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.53, Y:11.25, Z:0.18 [[ 9.30487142e-01 -3.66307993e-01 -3.48323577e-03 5.05326022e+01] [ 3.66305118e-01 9.30493658e-01 -1.45346045e-03 1.12548098e+01] [ 3.77354298e-03 7.64991673e-05 9.99992877e-01 1.81741754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:50.56, Y:11.27, Z:0.18 [[ 9.30177145e-01 -3.67094466e-01 -3.48305104e-03 5.05596724e+01] [ 3.67091594e-01 9.30183663e-01 -1.45390299e-03 1.12659865e+01] [ 3.77359692e-03 7.37885727e-05 9.99992877e-01 1.82403664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:50.59, Y:11.27, Z:0.18 [[ 9.29555421e-01 -3.68665961e-01 -3.48270650e-03 5.05868931e+01] [ 3.68663097e-01 9.29561942e-01 -1.45472785e-03 1.12746552e+01] [ 3.77370006e-03 6.83047968e-05 9.99992877e-01 1.82148150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.61, Y:11.28, Z:0.18 [[ 9.29134831e-01 -3.69724680e-01 -3.48236456e-03 5.06138609e+01] [ 3.69721821e-01 9.29141355e-01 -1.45554594e-03 1.12845243e+01] [ 3.77376018e-03 6.48922638e-05 9.99992877e-01 1.82003462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.64, Y:11.29, Z:0.18 [[ 9.28746632e-01 -3.70698757e-01 -3.48202497e-03 5.06411755e+01] [ 3.70695901e-01 9.28753158e-01 -1.45635787e-03 1.12948819e+01] [ 3.77381174e-03 6.18150851e-05 9.99992877e-01 1.83273270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:50.67, Y:11.31, Z:0.18 [[ 9.28347580e-01 -3.71696985e-01 -3.48167494e-03 5.06686925e+01] [ 3.71694134e-01 9.28354107e-01 -1.45719420e-03 1.13054701e+01] [ 3.77386192e-03 5.86645580e-05 9.99992877e-01 1.81897963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:50.69, Y:11.32, Z:0.18 [[ 9.28598689e-01 -3.71069175e-01 -3.48460076e-03 5.06947364e+01] [ 3.71066345e-01 9.28605225e-01 -1.45020484e-03 1.13159985e+01] [ 3.77394479e-03 5.36402454e-05 9.99992877e-01 1.84802128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.72, Y:11.33, Z:0.19 [[ 9.28682731e-01 -3.70858823e-01 -3.48116643e-03 5.07208279e+01] [ 3.70855961e-01 9.28689253e-01 -1.45840250e-03 1.13266246e+01] [ 3.77378329e-03 6.33818974e-05 9.99992877e-01 1.85725171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:11.34, Z:0.18 [[ 9.29002614e-01 -3.70056788e-01 -3.48097995e-03 5.07457944e+01] [ 3.70053919e-01 9.29009133e-01 -1.45884747e-03 1.13357447e+01] [ 3.77371857e-03 6.71228416e-05 9.99992877e-01 1.79166513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:50.77, Y:11.35, Z:0.18 [[ 9.27625817e-01 -3.73494644e-01 -3.47778016e-03 5.07669223e+01] [ 3.73491770e-01 9.27632334e-01 -1.46648357e-03 1.13478061e+01] [ 3.77382509e-03 6.14257530e-05 9.99992877e-01 1.78925796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.740888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:11.35, Z:0.19 [[ 9.30342022e-01 -3.66676655e-01 -3.45729029e-03 5.08031175e+01] [ 3.66673550e-01 9.30348435e-01 -1.51560603e-03 1.13525199e+01] [ 3.77222196e-03 1.42335075e-04 9.99992875e-01 1.85778465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:11.36, Z:0.19 [[ 9.30648997e-01 -3.65896577e-01 -3.48423303e-03 5.08290219e+01] [ 3.65893708e-01 9.30655516e-01 -1.45090521e-03 1.13621307e+01] [ 3.77350194e-03 7.54245341e-05 9.99992877e-01 1.86558817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.85, Y:11.37, Z:0.19 [[ 9.31136300e-01 -3.64654705e-01 -3.48383046e-03 5.08549629e+01] [ 3.64651824e-01 9.31142814e-01 -1.45187118e-03 1.13724213e+01] [ 3.77337536e-03 8.15048271e-05 9.99992877e-01 1.86634085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:11.38, Z:0.19 [[ 9.31721215e-01 -3.63157601e-01 -3.48342763e-03 5.08810538e+01] [ 3.63154706e-01 9.31727722e-01 -1.45283704e-03 1.13825883e+01] [ 3.77321491e-03 8.86159558e-05 9.99992877e-01 1.85637676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:11.39, Z:0.19 [[ 9.32987633e-01 -3.59891571e-01 -3.48330272e-03 5.09074604e+01] [ 3.59888652e-01 9.32994130e-01 -1.45313645e-03 1.13917581e+01] [ 3.77287256e-03 1.02157219e-04 9.99992877e-01 1.86632988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:11.40, Z:0.19 [[ 9.33568600e-01 -3.58381830e-01 -3.48318161e-03 5.09341365e+01] [ 3.58378899e-01 9.33575092e-01 -1.45342671e-03 1.14019321e+01] [ 3.77269331e-03 1.08574747e-04 9.99992877e-01 1.87757139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:11.41, Z:0.19 [[ 9.34315659e-01 -3.56429684e-01 -3.48284409e-03 5.09608088e+01] [ 3.56426737e-01 9.34322143e-01 -1.45423506e-03 1.14125419e+01] [ 3.77243090e-03 1.17335830e-04 9.99992877e-01 1.88164646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:11.42, Z:0.19 [[ 9.35709374e-01 -3.52754644e-01 -3.48250358e-03 5.09864696e+01] [ 3.52751668e-01 9.35715845e-01 -1.45505004e-03 1.14224641e+01] [ 3.77190944e-03 1.33045016e-04 9.99992877e-01 1.86073821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:11.43, Z:0.18 [[ 9.36057838e-01 -3.51828931e-01 -3.48238312e-03 5.10119479e+01] [ 3.51825947e-01 9.36064306e-01 -1.45533828e-03 1.14329457e+01] [ 3.77176465e-03 1.37088064e-04 9.99992877e-01 1.84094231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:11.44, Z:0.19 [[ 9.36365174e-01 -3.51010163e-01 -3.48226523e-03 5.10392246e+01] [ 3.51007173e-01 9.36371639e-01 -1.45562031e-03 1.14431319e+01] [ 3.77163192e-03 1.40692088e-04 9.99992877e-01 1.86553636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:51.07, Y:11.45, Z:0.19 [[ 9.36493062e-01 -3.50668820e-01 -3.48192337e-03 5.10653511e+01] [ 3.50665825e-01 9.36499524e-01 -1.45643759e-03 1.14532989e+01] [ 3.77154683e-03 1.42952166e-04 9.99992877e-01 1.86705063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:11.46, Z:0.19 [[ 9.36499653e-01 -3.50651222e-01 -3.48152413e-03 5.10914815e+01] [ 3.50648223e-01 9.36506113e-01 -1.45739133e-03 1.14638578e+01] [ 3.77150468e-03 1.44056220e-04 9.99992877e-01 1.86684855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.12, Y:11.47, Z:0.18 [[ 9.36656228e-01 -3.50232769e-01 -3.48111598e-03 5.11168369e+01] [ 3.50229764e-01 9.36662685e-01 -1.45836557e-03 1.14737593e+01] [ 3.77139886e-03 1.46796771e-04 9.99992877e-01 1.84970272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:11.48, Z:0.19 [[ 9.36884855e-01 -3.49620726e-01 -3.48083829e-03 5.11431134e+01] [ 3.49617714e-01 9.36891309e-01 -1.45902806e-03 1.14836200e+01] [ 3.77127360e-03 1.49978561e-04 9.99992877e-01 1.85625630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:11.49, Z:0.18 [[ 9.37025059e-01 -3.49244792e-01 -3.48044453e-03 5.11694015e+01] [ 3.49241774e-01 9.37031511e-01 -1.45996676e-03 1.14922243e+01] [ 3.77117198e-03 1.52508822e-04 9.99992877e-01 1.84434895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.20, Y:11.50, Z:0.18 [[ 9.36816810e-01 -3.49803019e-01 -3.48026181e-03 5.11951832e+01] [ 3.49800003e-01 9.36823263e-01 -1.46040218e-03 1.15032298e+01] [ 3.77124332e-03 1.50733723e-04 9.99992877e-01 1.83016760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:11.51, Z:0.18 [[ 9.36375757e-01 -3.50981955e-01 -3.47986629e-03 5.12206612e+01] [ 3.50978944e-01 9.36382211e-01 -1.46134405e-03 1.15146641e+01] [ 3.77139028e-03 1.47007348e-04 9.99992877e-01 1.81317108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.25, Y:11.53, Z:0.18 [[ 9.35794231e-01 -3.52529502e-01 -3.47946465e-03 5.12462339e+01] [ 3.52526498e-01 9.35800689e-01 -1.46229972e-03 1.15257623e+01] [ 3.77158921e-03 1.41808161e-04 9.99992877e-01 1.80110355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:51.27, Y:11.53, Z:0.18 [[ 9.34531128e-01 -3.55864394e-01 -3.47906106e-03 5.12739170e+01] [ 3.55861409e-01 9.34537595e-01 -1.46325929e-03 1.15346893e+01] [ 3.77203524e-03 1.29397785e-04 9.99992877e-01 1.80398802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:51.30, Y:11.54, Z:0.18 [[ 9.33827855e-01 -3.57705796e-01 -3.47870111e-03 5.12994258e+01] [ 3.57702821e-01 9.33834326e-01 -1.46411452e-03 1.15435437e+01] [ 3.77225276e-03 1.22889721e-04 9.99992877e-01 1.80318862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:11.55, Z:0.18 [[ 9.33116612e-01 -3.59557072e-01 -3.47852188e-03 5.13251291e+01] [ 3.59554108e-01 9.33123089e-01 -1.46454024e-03 1.15525954e+01] [ 3.77247488e-03 1.15869992e-04 9.99992877e-01 1.80399636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:11.56, Z:0.18 [[ 9.31499260e-01 -3.63726586e-01 -3.47835053e-03 5.13522074e+01] [ 3.63723649e-01 9.31505749e-01 -1.46494708e-03 1.15614597e+01] [ 3.77294372e-03 9.94387695e-05 9.99992877e-01 1.81904842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:11.57, Z:0.18 [[ 9.30419142e-01 -3.66480729e-01 -3.47795251e-03 5.13790297e+01] [ 3.66477808e-01 9.30425638e-01 -1.46589142e-03 1.15719073e+01] [ 3.77319714e-03 8.93010201e-05 9.99992877e-01 1.82789388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:11.58, Z:0.18 [[ 9.29394580e-01 -3.69071294e-01 -3.47760302e-03 5.14057837e+01] [ 3.69068388e-01 9.29401083e-01 -1.46672007e-03 1.15827086e+01] [ 3.77341229e-03 7.96883404e-05 9.99992877e-01 1.84324318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:11.59, Z:0.19 [[ 9.27255823e-01 -3.74412269e-01 -3.47724238e-03 5.14323762e+01] [ 3.74409398e-01 9.27262341e-01 -1.46757456e-03 1.15920230e+01] [ 3.77379383e-03 5.89048296e-05 9.99992877e-01 1.85078123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:11.60, Z:0.19 [[ 9.26233961e-01 -3.76933097e-01 -3.47711487e-03 5.14585533e+01] [ 3.76930242e-01 9.26240486e-01 -1.46787661e-03 1.16022071e+01] [ 3.77393584e-03 4.89674211e-05 9.99992877e-01 1.85126630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:51.49, Y:11.61, Z:0.19 [[ 9.24380222e-01 -3.81456570e-01 -3.47699314e-03 5.14854034e+01] [ 3.81453746e-01 9.24386761e-01 -1.46816488e-03 1.16112767e+01] [ 3.77412757e-03 3.08305200e-05 9.99992877e-01 1.85420707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:51.51, Y:11.62, Z:0.19 [[ 9.23463328e-01 -3.83670945e-01 -3.47659945e-03 5.15112206e+01] [ 3.83668133e-01 9.23469872e-01 -1.46909655e-03 1.16220018e+01] [ 3.77418451e-03 2.27963700e-05 9.99992877e-01 1.85533786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:51.54, Y:11.63, Z:0.19 [[ 9.22819939e-01 -3.85215883e-01 -3.47619793e-03 5.15374912e+01] [ 3.85213079e-01 9.22826486e-01 -1.47004602e-03 1.16330831e+01] [ 3.77421260e-03 1.75108655e-05 9.99992877e-01 1.85055158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.610888478999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:51.56, Y:11.64, Z:0.18 [[ 9.22138742e-01 -3.86843713e-01 -3.47579730e-03 5.15630333e+01] [ 3.86840917e-01 9.22145293e-01 -1.47099267e-03 1.16440519e+01] [ 3.77423439e-03 1.18787210e-05 9.99992877e-01 1.84971372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640888479 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:51.59, Y:11.65, Z:0.19 [[ 9.21050332e-01 -3.89428051e-01 -3.47539764e-03 5.15892044e+01] [ 3.89425269e-01 9.21056889e-01 -1.47193632e-03 1.16548098e+01] [ 3.77425223e-03 2.31977519e-06 9.99992877e-01 1.86810297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670888479 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:51.61, Y:11.67, Z:0.19 [[ 9.20591655e-01 -3.90511110e-01 -3.47527396e-03 5.16148827e+01] [ 3.90508335e-01 9.20598215e-01 -1.47222826e-03 1.16657810e+01] [ 3.77425250e-03 -1.80240175e-06 9.99992877e-01 1.87678345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700888479 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:51.64, Y:11.68, Z:0.19 [[ 9.20124100e-01 -3.91611499e-01 -3.47488759e-03 5.16398170e+01] [ 3.91608728e-01 9.20130661e-01 -1.47313964e-03 1.16774082e+01] [ 3.77424904e-03 -5.32502164e-06 9.99992877e-01 1.87640930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730888479 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:51.67, Y:11.69, Z:0.19 [[ 9.19381835e-01 -3.93350947e-01 -3.47472009e-03 5.16657044e+01] [ 3.93348187e-01 9.19388401e-01 -1.47353462e-03 1.16888766e+01] [ 3.77423359e-03 -1.20338853e-05 9.99992877e-01 1.87073997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760888479 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:51.69, Y:11.70, Z:0.19 [[ 9.19113172e-01 -3.93978307e-01 -3.47433067e-03 5.16912678e+01] [ 3.93975548e-01 9.19119738e-01 -1.47445224e-03 1.16996855e+01] [ 3.77422809e-03 -1.36128567e-05 9.99992877e-01 1.86569839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790888479 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:51.72, Y:11.71, Z:0.19 [[ 9.18718416e-01 -3.94897966e-01 -3.47393844e-03 5.17166468e+01] [ 3.94895210e-01 9.18724984e-01 -1.47537579e-03 1.17116027e+01] [ 3.77421693e-03 -1.63867415e-05 9.99992877e-01 1.85895522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:11.73, Z:0.19 [[ 9.18485366e-01 -3.95439712e-01 -3.47354853e-03 5.17408007e+01] [ 3.95436957e-01 9.18491934e-01 -1.47629320e-03 1.17254427e+01] [ 3.77421127e-03 -1.76157589e-05 9.99992877e-01 1.85193787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:11.74, Z:0.19 [[ 9.18381785e-01 -3.95680215e-01 -3.47342773e-03 5.17670790e+01] [ 3.95677460e-01 9.18388353e-01 -1.47657735e-03 1.17367143e+01] [ 3.77420802e-03 -1.82953205e-05 9.99992877e-01 1.85301577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:51.79, Y:11.75, Z:0.19 [[ 9.18181867e-01 -3.96143910e-01 -3.47304084e-03 5.17919350e+01] [ 3.96141155e-01 9.18188435e-01 -1.47748681e-03 1.17489815e+01] [ 3.77420333e-03 -1.92128106e-05 9.99992877e-01 1.85530487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:11.76, Z:0.19 [[ 9.17818549e-01 -3.96984951e-01 -3.47265418e-03 5.18170231e+01] [ 3.96982199e-01 9.17825118e-01 -1.47839503e-03 1.17605142e+01] [ 3.77418982e-03 -2.16835085e-05 9.99992877e-01 1.88960905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:11.77, Z:0.19 [[ 9.17527171e-01 -3.97657936e-01 -3.47225747e-03 5.18424050e+01] [ 3.97655185e-01 9.17533741e-01 -1.47932620e-03 1.17714458e+01] [ 3.77417919e-03 -2.34392057e-05 9.99992877e-01 1.90980451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:11.78, Z:0.19 [[ 9.17629957e-01 -3.97420694e-01 -3.47185682e-03 5.18677391e+01] [ 3.97417938e-01 9.17636525e-01 -1.48026590e-03 1.17827325e+01] [ 3.77419092e-03 -2.14418469e-05 9.99992877e-01 1.91804111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:11.79, Z:0.19 [[ 9.18079393e-01 -3.96381354e-01 -3.47145568e-03 5.18929939e+01] [ 3.96378587e-01 9.18085955e-01 -1.48120603e-03 1.17947998e+01] [ 3.77421716e-03 -1.61459632e-05 9.99992877e-01 1.91872531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.92, Y:11.81, Z:0.19 [[ 9.20188013e-01 -3.91461331e-01 -3.47104859e-03 5.19158727e+01] [ 3.91458525e-01 9.20194559e-01 -1.48215939e-03 1.18091680e+01] [ 3.77424811e-03 5.09374767e-06 9.99992877e-01 1.90762782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:11.82, Z:0.19 [[ 9.21436491e-01 -3.88513508e-01 -3.47087194e-03 5.19401880e+01] [ 3.88510679e-01 9.21443028e-01 -1.48257295e-03 1.18227617e+01] [ 3.77421037e-03 1.76260067e-05 9.99992877e-01 1.89782305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:11.84, Z:0.19 [[ 9.22893827e-01 -3.85038880e-01 -3.47047387e-03 5.19653930e+01] [ 3.85036023e-01 9.22900352e-01 -1.48350417e-03 1.18364081e+01] [ 3.77410834e-03 3.28593862e-05 9.99992877e-01 1.88775956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:11.85, Z:0.19 [[ 9.25542222e-01 -3.78628516e-01 -3.47006182e-03 5.19893558e+01] [ 3.78625611e-01 9.25548725e-01 -1.48446737e-03 1.18514425e+01] [ 3.77377298e-03 6.00829514e-05 9.99992877e-01 1.87586022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:11.86, Z:0.19 [[ 9.26574112e-01 -3.76096233e-01 -3.46965020e-03 5.20135975e+01] [ 3.76093306e-01 9.26580605e-01 -1.48542884e-03 1.18638209e+01] [ 3.77357477e-03 7.14476915e-05 9.99992877e-01 1.86774990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:11.88, Z:0.19 [[ 9.27428180e-01 -3.73985206e-01 -3.46947092e-03 5.20385139e+01] [ 3.73982263e-01 9.27434666e-01 -1.48584747e-03 1.18765008e+01] [ 3.77339257e-03 8.04962259e-05 9.99992877e-01 1.86316979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:11.89, Z:0.19 [[ 9.28568478e-01 -3.71144915e-01 -3.46906299e-03 5.20629814e+01] [ 3.71141948e-01 9.28574953e-01 -1.48679926e-03 1.18905909e+01] [ 3.77310299e-03 9.30801326e-05 9.99992877e-01 1.85423589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:11.90, Z:0.19 [[ 9.28983868e-01 -3.70103959e-01 -3.46865822e-03 5.20876900e+01] [ 3.70100982e-01 9.28990339e-01 -1.48774298e-03 1.19027181e+01] [ 3.77296954e-03 9.83354107e-05 9.99992877e-01 1.85420536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.11, Y:11.92, Z:0.19 [[ 9.29685154e-01 -3.68338817e-01 -3.46848275e-03 5.21115754e+01] [ 3.68335827e-01 9.29691618e-01 -1.48815196e-03 1.19154997e+01] [ 3.77276347e-03 1.05946321e-04 9.99992877e-01 1.85260753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:11.93, Z:0.19 [[ 9.29796015e-01 -3.68058884e-01 -3.46830900e-03 5.21371673e+01] [ 3.68055890e-01 9.29802477e-01 -1.48855679e-03 1.19274889e+01] [ 3.77271885e-03 1.07522614e-04 9.99992877e-01 1.85895354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.16, Y:11.94, Z:0.19 [[ 9.29806434e-01 -3.68032565e-01 -3.46790623e-03 5.21626313e+01] [ 3.68029567e-01 9.29812895e-01 -1.48949453e-03 1.19393967e+01] [ 3.77268642e-03 1.08649568e-04 9.99992877e-01 1.86803008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.360888478999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.19, Y:11.95, Z:0.19 [[ 9.29758199e-01 -3.68154407e-01 -3.46750425e-03 5.21876905e+01] [ 3.68151407e-01 9.29764659e-01 -1.49042974e-03 1.19510740e+01] [ 3.77267118e-03 1.09172708e-04 9.99992877e-01 1.87563857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.21, Y:11.96, Z:0.19 [[ 9.29438662e-01 -3.68960368e-01 -3.46708373e-03 5.22117585e+01] [ 3.68957369e-01 9.29445122e-01 -1.49140732e-03 1.19623894e+01] [ 3.77273426e-03 1.06965527e-04 9.99992877e-01 1.85941271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.24, Y:11.97, Z:0.19 [[ 9.29120620e-01 -3.69760536e-01 -3.46690150e-03 5.22373103e+01] [ 3.69757541e-01 9.29127082e-01 -1.49183083e-03 1.19732612e+01] [ 3.77281224e-03 1.04177809e-04 9.99992877e-01 1.86407390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:11.98, Z:0.19 [[ 9.28689786e-01 -3.70841294e-01 -3.46648482e-03 5.22632822e+01] [ 3.70838303e-01 9.28696250e-01 -1.49279839e-03 1.19839289e+01] [ 3.77290274e-03 1.00841270e-04 9.99992877e-01 1.86369850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.29, Y:11.99, Z:0.19 [[ 9.28399453e-01 -3.71567548e-01 -3.46607164e-03 5.22879033e+01] [ 3.71564558e-01 9.28405918e-01 -1.49375714e-03 1.19947276e+01] [ 3.77295310e-03 9.89339308e-05 9.99992877e-01 1.86393591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.31, Y:12.01, Z:0.19 [[ 9.28200450e-01 -3.72064394e-01 -3.46579093e-03 5.23136746e+01] [ 3.72061406e-01 9.28206915e-01 -1.49440815e-03 1.20056136e+01] [ 3.77298717e-03 9.76232702e-05 9.99992877e-01 1.87329851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.34, Y:12.02, Z:0.19 [[ 9.28166585e-01 -3.72148870e-01 -3.46537948e-03 5.23389683e+01] [ 3.72145879e-01 9.28173049e-01 -1.49536166e-03 1.20167844e+01] [ 3.77296899e-03 9.83180380e-05 9.99992877e-01 1.88095988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.36, Y:12.03, Z:0.19 [[ 9.28170443e-01 -3.72139250e-01 -3.46525203e-03 5.23649646e+01] [ 3.72136257e-01 9.28176906e-01 -1.49565693e-03 1.20281888e+01] [ 3.77295956e-03 9.86786319e-05 9.99992877e-01 1.88452857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.39, Y:12.04, Z:0.19 [[ 9.28219882e-01 -3.72015920e-01 -3.46484399e-03 5.23903817e+01] [ 3.72012923e-01 9.28226344e-01 -1.49660161e-03 1.20390817e+01] [ 3.77291909e-03 1.00208626e-04 9.99992877e-01 1.88927036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.42, Y:12.05, Z:0.19 [[ 9.28409915e-01 -3.71541421e-01 -3.46443482e-03 5.24150555e+01] [ 3.71538418e-01 9.28416373e-01 -1.49754819e-03 1.20492182e+01] [ 3.77283919e-03 1.03167953e-04 9.99992877e-01 1.88846746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:12.06, Z:0.19 [[ 9.28171496e-01 -3.72136632e-01 -3.46425703e-03 5.24404998e+01] [ 3.72133630e-01 9.28177956e-01 -1.49795935e-03 1.20603123e+01] [ 3.77289255e-03 1.01196630e-04 9.99992877e-01 1.89349099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:12.07, Z:0.19 [[ 9.27968568e-01 -3.72642374e-01 -3.46384869e-03 5.24655733e+01] [ 3.72639373e-01 9.27975027e-01 -1.49890298e-03 1.20712743e+01] [ 3.77291985e-03 1.00168448e-04 9.99992877e-01 1.89425007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.49, Y:12.08, Z:0.19 [[ 9.27211788e-01 -3.74521432e-01 -3.46367166e-03 5.24898366e+01] [ 3.74518443e-01 9.27218253e-01 -1.49931196e-03 1.20823037e+01] [ 3.77310405e-03 9.29708077e-05 9.99992877e-01 1.89449532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:52.52, Y:12.09, Z:0.19 [[ 9.26619145e-01 -3.75985325e-01 -3.46349976e-03 5.25152143e+01] [ 3.75982344e-01 9.26625614e-01 -1.49970896e-03 1.20939404e+01] [ 3.77323615e-03 8.74442717e-05 9.99992877e-01 1.90006817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.54, Y:12.11, Z:0.19 [[ 9.25557977e-01 -3.78590065e-01 -3.46308225e-03 5.25405304e+01] [ 3.78587099e-01 9.25564453e-01 -1.50067243e-03 1.21060527e+01] [ 3.77344550e-03 7.78810736e-05 9.99992877e-01 1.90914460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.57, Y:12.12, Z:0.19 [[ 9.24794386e-01 -3.80451510e-01 -3.46295290e-03 5.25666245e+01] [ 3.80448556e-01 9.24800867e-01 -1.50097088e-03 1.21172631e+01] [ 3.77358848e-03 7.06140115e-05 9.99992877e-01 1.91531127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:52.59, Y:12.13, Z:0.19 [[ 9.23788246e-01 -3.82888087e-01 -3.46253899e-03 5.25924002e+01] [ 3.82885146e-01 9.23794733e-01 -1.50192509e-03 1.21277492e+01] [ 3.77374451e-03 6.17059976e-05 9.99992877e-01 1.92460844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.62, Y:12.14, Z:0.19 [[ 9.21866755e-01 -3.87491548e-01 -3.46212743e-03 5.26184614e+01] [ 3.87488636e-01 9.21873255e-01 -1.50287318e-03 1.21382764e+01] [ 3.77399334e-03 4.39137895e-05 9.99992877e-01 1.92611980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:52.64, Y:12.15, Z:0.19 [[ 9.20928454e-01 -3.89716305e-01 -3.46171046e-03 5.26439072e+01] [ 3.89713406e-01 9.20934960e-01 -1.50383302e-03 1.21499059e+01] [ 3.77407844e-03 3.58476489e-05 9.99992877e-01 1.92325264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.930888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.67, Y:12.16, Z:0.19 [[ 9.20188905e-01 -3.91459319e-01 -3.46129080e-03 5.26686095e+01] [ 3.91456428e-01 9.20195414e-01 -1.50479833e-03 1.21613333e+01] [ 3.77413125e-03 2.97541958e-05 9.99992877e-01 1.92219134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.69, Y:12.17, Z:0.19 [[ 9.19099345e-01 -3.94010680e-01 -3.46110908e-03 5.26938082e+01] [ 3.94007805e-01 9.19105861e-01 -1.50521616e-03 1.21735654e+01] [ 3.77419689e-03 1.97391912e-05 9.99992877e-01 1.92526045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.72, Y:12.18, Z:0.19 [[ 9.18779108e-01 -3.94756854e-01 -3.46069520e-03 5.27183834e+01] [ 3.94753981e-01 9.18785626e-01 -1.50616713e-03 1.21847287e+01] [ 3.77420680e-03 1.77116870e-05 9.99992877e-01 1.92853026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.74, Y:12.20, Z:0.19 [[ 9.18761465e-01 -3.94797918e-01 -3.46051592e-03 5.27442749e+01] [ 3.94795043e-01 9.18767982e-01 -1.50657892e-03 1.21962930e+01] [ 3.77420545e-03 1.79921250e-05 9.99992877e-01 1.92801681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:12.21, Z:0.19 [[ 9.19155906e-01 -3.93878723e-01 -3.46010156e-03 5.27687185e+01] [ 3.93875838e-01 9.19162418e-01 -1.50752996e-03 1.22082999e+01] [ 3.77417930e-03 2.28046655e-05 9.99992877e-01 1.91576027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:52.79, Y:12.22, Z:0.19 [[ 9.19508909e-01 -3.93053934e-01 -3.45992167e-03 5.27943426e+01] [ 3.93051042e-01 9.19515418e-01 -1.50794272e-03 1.22205609e+01] [ 3.77415414e-03 2.66409430e-05 9.99992878e-01 1.91471746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.110888478999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.82, Y:12.23, Z:0.19 [[ 9.20145179e-01 -3.91562105e-01 -3.45950505e-03 5.28189838e+01] [ 3.91559199e-01 9.20151681e-01 -1.50889792e-03 1.22325829e+01] [ 3.77409664e-03 3.38041166e-05 9.99992878e-01 1.90727609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.84, Y:12.25, Z:0.19 [[ 9.21406471e-01 -3.88584801e-01 -3.45937600e-03 5.28437471e+01] [ 3.88581873e-01 9.21412964e-01 -1.50919372e-03 1.22460841e+01] [ 3.77396364e-03 4.63300520e-05 9.99992878e-01 1.89400620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:52.87, Y:12.26, Z:0.19 [[ 9.22012716e-01 -3.87144142e-01 -3.45896373e-03 5.28687524e+01] [ 3.87141200e-01 9.22019203e-01 -1.51013802e-03 1.22582442e+01] [ 3.77387207e-03 5.32590917e-05 9.99992878e-01 1.89551452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:52.89, Y:12.27, Z:0.19 [[ 9.22743024e-01 -3.85400246e-01 -3.45853324e-03 5.28930282e+01] [ 3.85397288e-01 9.22749504e-01 -1.51112331e-03 1.22695672e+01] [ 3.77374712e-03 6.14691636e-05 9.99992878e-01 1.89150179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:52.92, Y:12.28, Z:0.19 [[ 9.23455708e-01 -3.83689452e-01 -3.45824059e-03 5.29185586e+01] [ 3.83686480e-01 9.23462181e-01 -1.51179275e-03 1.22808405e+01] [ 3.77361333e-03 6.91934904e-05 9.99992878e-01 1.90157768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:52.94, Y:12.29, Z:0.19 [[ 9.25308015e-01 -3.79200634e-01 -3.45782544e-03 5.29430481e+01] [ 3.79197627e-01 9.25314472e-01 -1.51274170e-03 1.22922068e+01] [ 3.77320853e-03 8.85528146e-05 9.99992878e-01 1.90687528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:52.97, Y:12.30, Z:0.19 [[ 9.26207086e-01 -3.76999310e-01 -3.45754317e-03 5.29681384e+01] [ 3.76996285e-01 9.26213534e-01 -1.51338657e-03 1.23039955e+01] [ 3.77296897e-03 9.82284289e-05 9.99992878e-01 1.91389459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320888479 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:52.99, Y:12.32, Z:0.19 [[ 9.27779281e-01 -3.73113461e-01 -3.45712966e-03 5.29935929e+01] [ 3.73110406e-01 9.27785715e-01 -1.51433060e-03 1.23167783e+01] [ 3.77249264e-03 1.15073502e-04 9.99992878e-01 1.92072841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350888479 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:53.02, Y:12.33, Z:0.19 [[ 9.28402131e-01 -3.71560943e-01 -3.45671525e-03 5.30180582e+01] [ 3.71557873e-01 9.28408558e-01 -1.51527597e-03 1.23276064e+01] [ 3.77226139e-03 1.22415674e-04 9.99992878e-01 1.91659497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380888479 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:53.04, Y:12.34, Z:0.19 [[ 9.28912567e-01 -3.70282993e-01 -3.45653537e-03 5.30437528e+01] [ 3.70279913e-01 9.28918989e-01 -1.51568618e-03 1.23385587e+01] [ 3.77207416e-03 1.28054327e-04 9.99992878e-01 1.91238234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410888479 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:53.07, Y:12.35, Z:0.19 [[ 9.29799849e-01 -3.68049311e-01 -3.45612856e-03 5.30698952e+01] [ 3.68046212e-01 9.29806262e-01 -1.51661324e-03 1.23478486e+01] [ 3.77171844e-03 1.38131733e-04 9.99992878e-01 1.91272325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:53.10, Y:12.36, Z:0.19 [[ 9.29940453e-01 -3.67693907e-01 -3.45600259e-03 5.30960066e+01] [ 3.67690804e-01 9.29946865e-01 -1.51690024e-03 1.23587039e+01] [ 3.77165375e-03 1.39886526e-04 9.99992878e-01 1.91475650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470888479 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:53.12, Y:12.37, Z:0.19 [[ 9.30096235e-01 -3.67299676e-01 -3.45559959e-03 5.31216672e+01] [ 3.67296567e-01 9.30102644e-01 -1.51781775e-03 1.23697114e+01] [ 3.77155628e-03 1.42486711e-04 9.99992878e-01 1.91892156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:53.15, Y:12.38, Z:0.19 [[ 9.30065710e-01 -3.67376967e-01 -3.45519723e-03 5.31472814e+01] [ 3.67373856e-01 9.30072117e-01 -1.51873315e-03 1.23808516e+01] [ 3.77153018e-03 1.43172494e-04 9.99992878e-01 1.91406906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530888479 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:53.17, Y:12.39, Z:0.19 [[ 9.30229021e-01 -3.66963259e-01 -3.45479536e-03 5.31732224e+01] [ 3.66960141e-01 9.30235425e-01 -1.51964676e-03 1.23913319e+01] [ 3.77142756e-03 1.45847323e-04 9.99992878e-01 1.90890599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:53.20, Y:12.40, Z:0.19 [[ 9.30480967e-01 -3.66323951e-01 -3.45439596e-03 5.31997826e+01] [ 3.66320826e-01 9.30487367e-01 -1.52055411e-03 1.24019047e+01] [ 3.77128719e-03 1.49429481e-04 9.99992878e-01 1.91006975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:53.23, Y:12.41, Z:0.19 [[ 9.30947904e-01 -3.65135687e-01 -3.45399872e-03 5.32263248e+01] [ 3.65132550e-01 9.30954299e-01 -1.52145592e-03 1.24114730e+01] [ 3.77105281e-03 1.55228836e-04 9.99992878e-01 1.90123753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.25, Y:12.42, Z:0.19 [[ 9.31450206e-01 -3.63852424e-01 -3.45360282e-03 5.32528309e+01] [ 3.63849275e-01 9.31456595e-01 -1.52235406e-03 1.24212835e+01] [ 3.77079334e-03 1.61406115e-04 9.99992878e-01 1.87326747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.28, Y:12.43, Z:0.19 [[ 9.31324691e-01 -3.64173576e-01 -3.45348036e-03 5.32789825e+01] [ 3.64170428e-01 9.31331080e-01 -1.52263182e-03 1.24316645e+01] [ 3.77083587e-03 1.60409189e-04 9.99992878e-01 1.86390842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.680888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.30, Y:12.44, Z:0.19 [[ 9.31111870e-01 -3.64717372e-01 -3.45309161e-03 5.33046948e+01] [ 3.64714224e-01 9.31118260e-01 -1.52351292e-03 1.24418093e+01] [ 3.77088828e-03 1.59169335e-04 9.99992878e-01 1.86171864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.33, Y:12.45, Z:0.19 [[ 9.30956430e-01 -3.65113960e-01 -3.45270441e-03 5.33309283e+01] [ 3.65110812e-01 9.30962819e-01 -1.52438993e-03 1.24519239e+01] [ 3.77091548e-03 1.58520898e-04 9.99992878e-01 1.86634814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.36, Y:12.46, Z:0.19 [[ 9.30852466e-01 -3.65378937e-01 -3.45231915e-03 5.33569824e+01] [ 3.65375787e-01 9.30858855e-01 -1.52526195e-03 1.24592882e+01] [ 3.77092043e-03 1.58400018e-04 9.99992878e-01 1.87820047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.38, Y:12.47, Z:0.19 [[ 9.30761425e-01 -3.65610794e-01 -3.45215221e-03 5.33830767e+01] [ 3.65607645e-01 9.30767814e-01 -1.52563968e-03 1.24709478e+01] [ 3.77094250e-03 1.57873328e-04 9.99992878e-01 1.87927753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.41, Y:12.48, Z:0.19 [[ 9.29776672e-01 -3.68107900e-01 -3.45177197e-03 5.34058939e+01] [ 3.68104765e-01 9.29783067e-01 -1.52649949e-03 1.24812935e+01] [ 3.77131565e-03 1.48689908e-04 9.99992878e-01 1.91395201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.43, Y:12.49, Z:0.19 [[ 9.29754053e-01 -3.68165169e-01 -3.43656014e-03 5.34328321e+01] [ 3.68161907e-01 9.29760385e-01 -1.56085403e-03 1.24908547e+01] [ 3.76982957e-03 1.85999822e-04 9.99992877e-01 1.92109453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.860888478999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.46, Y:12.50, Z:0.19 [[ 9.29741087e-01 -3.68197904e-01 -3.43732953e-03 5.34598070e+01] [ 3.68194649e-01 9.29747423e-01 -1.55911608e-03 1.24998441e+01] [ 3.76991154e-03 1.83967940e-04 9.99992877e-01 1.91540644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.49, Y:12.51, Z:0.19 [[ 9.29702337e-01 -3.68295748e-01 -3.43600386e-03 5.34855902e+01] [ 3.68292482e-01 9.29708668e-01 -1.56211059e-03 1.25102584e+01] [ 3.76980126e-03 1.86843477e-04 9.99992877e-01 1.91400710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.52, Y:12.52, Z:0.19 [[ 9.30984818e-01 -3.65041737e-01 -3.43497355e-03 5.35167629e+01] [ 3.65038441e-01 9.30991133e-01 -1.56443665e-03 1.25180206e+01] [ 3.76901459e-03 2.02569380e-04 9.99992877e-01 1.89182566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.54, Y:12.53, Z:0.19 [[ 9.30868903e-01 -3.65337068e-01 -3.45127783e-03 5.35432359e+01] [ 3.65333910e-01 9.30875287e-01 -1.52760071e-03 1.25286835e+01] [ 3.77079841e-03 1.61127169e-04 9.99992878e-01 1.91379417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:53.57, Y:12.54, Z:0.19 [[ 9.30847630e-01 -3.65391271e-01 -3.45085634e-03 5.35684691e+01] [ 3.65388110e-01 9.30854013e-01 -1.52855227e-03 1.25386279e+01] [ 3.77076313e-03 1.61947379e-04 9.99992878e-01 1.90289329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:12.55, Z:0.19 [[ 9.30656781e-01 -3.65877095e-01 -3.45067290e-03 5.35950701e+01] [ 3.65873935e-01 9.30663165e-01 -1.52896628e-03 1.25485292e+01] [ 3.77082790e-03 1.60431562e-04 9.99992878e-01 1.91484590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:12.56, Z:0.19 [[ 9.30020953e-01 -3.67490303e-01 -3.45024700e-03 5.36226184e+01] [ 3.67487151e-01 9.30027340e-01 -1.52992675e-03 1.25557566e+01] [ 3.77105728e-03 1.54942498e-04 9.99992878e-01 1.92948317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:12.56, Z:0.19 [[ 9.28541595e-01 -3.71212343e-01 -3.45011557e-03 5.36504033e+01] [ 3.71209215e-01 9.28547994e-01 -1.53022307e-03 1.25634614e+01] [ 3.77163558e-03 1.40161077e-04 9.99992878e-01 1.94148033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:12.58, Z:0.19 [[ 9.28442060e-01 -3.71461223e-01 -3.44975766e-03 5.36765014e+01] [ 3.71458094e-01 9.28448459e-01 -1.53102953e-03 1.25751459e+01] [ 3.77164028e-03 1.40031809e-04 9.99992878e-01 1.94255584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:12.58, Z:0.20 [[ 9.26417801e-01 -3.76481288e-01 -3.44934702e-03 5.37051039e+01] [ 3.76478191e-01 9.26424214e-01 -1.53195412e-03 1.25831029e+01] [ 3.77231067e-03 1.20625638e-04 9.99992878e-01 1.95620389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:12.59, Z:0.20 [[ 9.25346873e-01 -3.79105882e-01 -3.44898501e-03 5.37328298e+01] [ 3.79102799e-01 9.25353294e-01 -1.53276871e-03 1.25928649e+01] [ 3.77261127e-03 1.10822862e-04 9.99992878e-01 1.97197484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.76, Y:12.60, Z:0.20 [[ 9.24456254e-01 -3.81272529e-01 -3.44862420e-03 5.37601290e+01] [ 3.81269459e-01 9.24462681e-01 -1.53358008e-03 1.26022464e+01] [ 3.77283633e-03 1.02872618e-04 9.99992878e-01 1.99611048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:12.61, Z:0.20 [[ 9.23031585e-01 -3.84708723e-01 -3.44825278e-03 5.37874542e+01] [ 3.84705674e-01 9.23038022e-01 -1.53441477e-03 1.26105834e+01] [ 3.77317117e-03 8.97508860e-05 9.99992878e-01 2.01978297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:12.62, Z:0.20 [[ 9.22567910e-01 -3.85819338e-01 -3.44811921e-03 5.38134557e+01] [ 3.85816295e-01 9.22574350e-01 -1.53471485e-03 1.26203990e+01] [ 3.77326901e-03 8.55380931e-05 9.99992878e-01 2.01419039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:12.63, Z:0.20 [[ 9.22369148e-01 -3.86294276e-01 -3.44769114e-03 5.38402096e+01] [ 3.86291233e-01 9.22375588e-01 -1.53567589e-03 1.26292533e+01] [ 3.77328895e-03 8.46472032e-05 9.99992878e-01 1.99263503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.86, Y:12.64, Z:0.19 [[ 9.20499062e-01 -3.90729562e-01 -3.44755830e-03 5.38571058e+01] [ 3.90726549e-01 9.20505516e-01 -1.53597407e-03 1.26424597e+01] [ 3.77364691e-03 6.68101359e-05 9.99992878e-01 1.93067701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.88, Y:12.65, Z:0.19 [[ 9.20463968e-01 -3.90812489e-01 -3.41792678e-03 5.38825515e+01] [ 3.90809229e-01 9.20470303e-01 -1.60243853e-03 1.26533098e+01] [ 3.77235309e-03 1.39229592e-04 9.99992875e-01 1.91796931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:12.66, Z:0.20 [[ 9.22815483e-01 -3.85227115e-01 -3.41378817e-03 5.39197183e+01] [ 3.85223782e-01 9.22821781e-01 -1.61171837e-03 1.26603191e+01] [ 3.77119570e-03 1.72246281e-04 9.99992874e-01 1.96021794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:12.68, Z:0.19 [[ 9.19793516e-01 -3.92387563e-01 -3.44803312e-03 5.39317856e+01] [ 3.92384566e-01 9.19799977e-01 -1.53478397e-03 1.26754391e+01] [ 3.77373093e-03 5.87293678e-05 9.99992878e-01 1.89520186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.430888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:53.97, Y:12.68, Z:0.20 [[ 9.22409368e-01 -3.86198624e-01 -3.40296469e-03 5.39725910e+01] [ 3.86195209e-01 9.22415625e-01 -1.63575514e-03 1.26826334e+01] [ 3.77067418e-03 1.94627203e-04 9.99992872e-01 1.97422109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.00, Y:12.69, Z:0.20 [[ 9.22869286e-01 -3.85097842e-01 -3.45433648e-03 5.39988760e+01] [ 3.85094848e-01 9.22875748e-01 -1.52026559e-03 1.26908525e+01] [ 3.77337436e-03 7.27592403e-05 9.99992878e-01 1.98320104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:54.03, Y:12.70, Z:0.20 [[ 9.22712705e-01 -3.85472926e-01 -3.44781070e-03 5.40254156e+01] [ 3.85469880e-01 9.22719142e-01 -1.53492407e-03 1.27008557e+01] [ 3.77303261e-03 8.72667639e-05 9.99992878e-01 2.00511580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:12.71, Z:0.20 [[ 9.21300036e-01 -3.88837189e-01 -3.44738283e-03 5.40451550e+01] [ 3.88834162e-01 9.21306483e-01 -1.53588445e-03 1.27136641e+01] [ 3.77330514e-03 7.45501855e-05 9.99992878e-01 1.99411701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:12.72, Z:0.20 [[ 9.22274075e-01 -3.86521407e-01 -3.42538974e-03 5.40761247e+01] [ 3.86518181e-01 9.22280425e-01 -1.58517885e-03 1.27242570e+01] [ 3.77187547e-03 1.37993949e-04 9.99992877e-01 1.99718074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.10, Y:12.74, Z:0.20 [[ 9.22318457e-01 -3.86415297e-01 -3.44698103e-03 5.41024747e+01] [ 3.86412250e-01 9.22324895e-01 -1.53674885e-03 1.27373217e+01] [ 3.77305968e-03 8.54161299e-05 9.99992878e-01 1.97314982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.610888478999996 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:54.13, Y:12.75, Z:0.20 [[ 9.22289331e-01 -3.86484812e-01 -3.44678346e-03 5.41282326e+01] [ 3.86481764e-01 9.22295768e-01 -1.53719185e-03 1.27500338e+01] [ 3.77305510e-03 8.56166847e-05 9.99992878e-01 1.95469022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:54.15, Y:12.76, Z:0.19 [[ 9.22457362e-01 -3.86083589e-01 -3.44641434e-03 5.41536871e+01] [ 3.86080536e-01 9.22463796e-01 -1.53801898e-03 1.27604179e+01] [ 3.77299634e-03 8.81634346e-05 9.99992878e-01 1.92893382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.18, Y:12.77, Z:0.20 [[ 9.22152488e-01 -3.86811209e-01 -3.44628383e-03 5.41794610e+01] [ 3.86808160e-01 9.22158924e-01 -1.53831137e-03 1.27708261e+01] [ 3.77305747e-03 8.55069503e-05 9.99992878e-01 1.95065093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700888479 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:54.21, Y:12.78, Z:0.20 [[ 9.22032267e-01 -3.87097693e-01 -3.44585444e-03 5.42050417e+01] [ 3.87094642e-01 9.22038702e-01 -1.53927260e-03 1.27805596e+01] [ 3.77306003e-03 8.53872159e-05 9.99992878e-01 1.96407687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:54.23, Y:12.79, Z:0.20 [[ 9.21470507e-01 -3.88433048e-01 -3.44556241e-03 5.42315436e+01] [ 3.88430004e-01 9.21476945e-01 -1.53992601e-03 1.27917044e+01] [ 3.77316448e-03 8.06365855e-05 9.99992878e-01 1.98184165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:12.80, Z:0.20 [[ 9.20595494e-01 -3.90502327e-01 -3.44518962e-03 5.42570768e+01] [ 3.90499295e-01 9.20601937e-01 -1.54075959e-03 1.28037912e+01] [ 3.77331845e-03 7.30722129e-05 9.99992878e-01 1.99669351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:54.28, Y:12.82, Z:0.20 [[ 9.20365709e-01 -3.91043596e-01 -3.44505780e-03 5.42821932e+01] [ 3.91040566e-01 9.20372153e-01 -1.54105428e-03 1.28159191e+01] [ 3.77335467e-03 7.11761633e-05 9.99992878e-01 1.99806092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:12.83, Z:0.20 [[ 9.19771414e-01 -3.92439394e-01 -3.44492759e-03 5.43079656e+01] [ 3.92436372e-01 9.19777863e-01 -1.54134531e-03 1.28273330e+01] [ 3.77345275e-03 6.57704689e-05 9.99992878e-01 2.00473958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:12.84, Z:0.20 [[ 9.19317109e-01 -3.93502464e-01 -3.44449964e-03 5.43334631e+01] [ 3.93499446e-01 9.19323560e-01 -1.54230107e-03 1.28373810e+01] [ 3.77350894e-03 6.24550629e-05 9.99992878e-01 2.00816032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:12.85, Z:0.20 [[ 9.18776381e-01 -3.94763346e-01 -3.44420947e-03 5.43594355e+01] [ 3.94760335e-01 9.18782835e-01 -1.54294880e-03 1.28473789e+01] [ 3.77358017e-03 5.79876288e-05 9.99992878e-01 2.02008208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:12.86, Z:0.20 [[ 9.17261313e-01 -3.98271043e-01 -3.44377967e-03 5.43841991e+01] [ 3.98268053e-01 9.17267777e-01 -1.54390747e-03 1.28585674e+01] [ 3.77376177e-03 4.46191708e-05 9.99992878e-01 2.02716788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:12.87, Z:0.20 [[ 9.16521138e-01 -3.99971432e-01 -3.44348712e-03 5.44097324e+01] [ 3.99968452e-01 9.16527606e-01 -1.54455971e-03 1.28709616e+01] [ 3.77383076e-03 3.83354136e-05 9.99992878e-01 2.02786373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.43, Y:12.88, Z:0.20 [[ 9.15660120e-01 -4.01938662e-01 -3.44335576e-03 5.44348793e+01] [ 4.01935695e-01 9.15666594e-01 -1.54485249e-03 1.28829949e+01] [ 3.77390178e-03 3.05522309e-05 9.99992878e-01 2.02340296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:12.89, Z:0.20 [[ 9.13836719e-01 -4.06067230e-01 -3.44322528e-03 5.44607652e+01] [ 4.06064291e-01 9.13843205e-01 -1.54514326e-03 1.28944307e+01] [ 3.77400007e-03 1.38378171e-05 9.99992878e-01 2.03777272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:54.49, Y:12.91, Z:0.20 [[ 9.13011540e-01 -4.07919202e-01 -3.44280926e-03 5.44860489e+01] [ 4.07916272e-01 9.13018031e-01 -1.54606965e-03 1.29057714e+01] [ 3.77401843e-03 7.20151113e-06 9.99992878e-01 2.04802891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:12.92, Z:0.21 [[ 9.12395552e-01 -4.09295134e-01 -3.44238562e-03 5.45112044e+01] [ 4.09292211e-01 9.12402046e-01 -1.54701234e-03 1.29171762e+01] [ 3.77402430e-03 2.54555636e-06 9.99992878e-01 2.05940101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:12.93, Z:0.21 [[ 9.11996624e-01 -4.10183266e-01 -3.44194749e-03 5.45358572e+01] [ 4.10180345e-01 9.12003119e-01 -1.54798652e-03 1.29300685e+01] [ 3.77402501e-03 -6.07307512e-08 9.99992878e-01 2.06695578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:12.94, Z:0.21 [[ 9.12010293e-01 -4.10152873e-01 -3.44181155e-03 5.45610600e+01] [ 4.10149951e-01 9.12016788e-01 -1.54828871e-03 1.29433312e+01] [ 3.77402497e-03 3.96406537e-07 9.99992878e-01 2.06685785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:12.96, Z:0.21 [[ 9.12327061e-01 -4.09447787e-01 -3.44138358e-03 5.45849038e+01] [ 4.09444856e-01 9.12333552e-01 -1.54923937e-03 1.29561678e+01] [ 3.77402234e-03 4.35619715e-06 9.99992878e-01 2.06445094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.61, Y:12.97, Z:0.21 [[ 9.12877295e-01 -4.08219552e-01 -3.44119806e-03 5.46095573e+01] [ 4.08216611e-01 9.12883781e-01 -1.54965133e-03 1.29690523e+01] [ 3.77401187e-03 9.88730414e-06 9.99992878e-01 2.06506773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:12.98, Z:0.21 [[ 9.14557351e-01 -4.04441606e-01 -3.44077605e-03 5.46331235e+01] [ 4.04438635e-01 9.14563823e-01 -1.55058778e-03 1.29821490e+01] [ 3.77393151e-03 2.65186869e-05 9.99992878e-01 2.06614728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:12.99, Z:0.21 [[ 9.15320676e-01 -4.02711090e-01 -3.44048809e-03 5.46579646e+01] [ 4.02708104e-01 9.15327142e-01 -1.55122647e-03 1.29944090e+01] [ 3.77386823e-03 3.43572241e-05 9.99992878e-01 2.06781453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:13.01, Z:0.21 [[ 9.16953856e-01 -3.98978435e-01 -3.44007740e-03 5.46823393e+01] [ 3.98975419e-01 9.16960308e-01 -1.55213670e-03 1.30094740e+01] [ 3.77368350e-03 5.07314163e-05 9.99992878e-01 2.05543288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:13.02, Z:0.20 [[ 9.17519149e-01 -3.97676728e-01 -3.43964960e-03 5.47063821e+01] [ 3.97673700e-01 9.17525594e-01 -1.55308415e-03 1.30229783e+01] [ 3.77359197e-03 5.71262686e-05 9.99992878e-01 2.04399856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:13.04, Z:0.21 [[ 9.18011550e-01 -3.96538733e-01 -3.43922625e-03 5.47312807e+01] [ 3.96535693e-01 9.18017990e-01 -1.55402107e-03 1.30363118e+01] [ 3.77350111e-03 6.28333314e-05 9.99992878e-01 2.05165116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.360888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:13.05, Z:0.21 [[ 9.18262330e-01 -3.95957658e-01 -3.43879773e-03 5.47566867e+01] [ 3.95954611e-01 9.18268767e-01 -1.55496875e-03 1.30489610e+01] [ 3.77344233e-03 6.62614109e-05 9.99992878e-01 2.06230191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:54.78, Y:13.06, Z:0.21 [[ 9.18048740e-01 -3.96452628e-01 -3.43866485e-03 5.47824304e+01] [ 3.96449583e-01 9.18055178e-01 -1.55526254e-03 1.30603098e+01] [ 3.77347199e-03 6.45495714e-05 9.99992878e-01 2.07462358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:54.81, Y:13.07, Z:0.21 [[ 9.17965071e-01 -3.96646324e-01 -3.43823220e-03 5.48068949e+01] [ 3.96643276e-01 9.17971508e-01 -1.55621840e-03 1.30714412e+01] [ 3.77346751e-03 6.48024497e-05 9.99992878e-01 2.08050600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:13.08, Z:0.21 [[ 9.17659345e-01 -3.97353125e-01 -3.43804455e-03 5.48313557e+01] [ 3.97350081e-01 9.17665783e-01 -1.55663286e-03 1.30847203e+01] [ 3.77350878e-03 6.23514102e-05 9.99992878e-01 2.07449117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:13.10, Z:0.21 [[ 9.17514958e-01 -3.97686415e-01 -3.43761293e-03 5.48559460e+01] [ 3.97683370e-01 9.17521396e-01 -1.55758545e-03 1.30970744e+01] [ 3.77351399e-03 6.20264557e-05 9.99992878e-01 2.07382982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:13.11, Z:0.21 [[ 9.17405289e-01 -3.97939343e-01 -3.43742666e-03 5.48814461e+01] [ 3.97936298e-01 9.17411726e-01 -1.55799642e-03 1.31090680e+01] [ 3.77352360e-03 6.14373214e-05 9.99992878e-01 2.07812602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:13.12, Z:0.21 [[ 9.16881496e-01 -3.99144721e-01 -3.43700263e-03 5.49061036e+01] [ 3.99141681e-01 9.16887937e-01 -1.55893130e-03 1.31209078e+01] [ 3.77358544e-03 5.75042579e-05 9.99992878e-01 2.06708317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:13.13, Z:0.20 [[ 9.15425472e-01 -4.02472848e-01 -3.43681883e-03 5.49291653e+01] [ 4.02469830e-01 9.15431922e-01 -1.55933639e-03 1.31343830e+01] [ 3.77376423e-03 4.42403580e-05 9.99992878e-01 2.01805098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:13.14, Z:0.21 [[ 9.15956044e-01 -4.01263969e-01 -3.42829153e-03 5.49576458e+01] [ 4.01260871e-01 9.15962457e-01 -1.57811398e-03 1.31440923e+01] [ 3.77342661e-03 6.98437906e-05 9.99992878e-01 2.05530591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.98, Y:13.15, Z:0.21 [[ 9.15506405e-01 -4.02288720e-01 -3.43636316e-03 5.49824828e+01] [ 4.02285697e-01 9.15512853e-01 -1.56033768e-03 1.31549151e+01] [ 3.77374089e-03 4.60993893e-05 9.99992878e-01 2.06016383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:13.17, Z:0.21 [[ 9.14992086e-01 -4.03457153e-01 -3.43617541e-03 5.50081033e+01] [ 4.03454137e-01 9.14998538e-01 -1.56075103e-03 1.31661970e+01] [ 3.77379164e-03 4.17356610e-05 9.99992878e-01 2.07709116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:13.18, Z:0.21 [[ 9.14880920e-01 -4.03709174e-01 -3.43574570e-03 5.50341086e+01] [ 4.03706156e-01 9.14887371e-01 -1.56169639e-03 1.31781035e+01] [ 3.77379151e-03 4.17345441e-05 9.99992878e-01 2.07816614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:13.19, Z:0.21 [[ 9.13663599e-01 -4.06456672e-01 -3.43531527e-03 5.50566035e+01] [ 4.06453669e-01 9.13670057e-01 -1.56264265e-03 1.31907079e+01] [ 3.77389123e-03 3.14332113e-05 9.99992878e-01 2.06212152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.09, Y:13.20, Z:0.21 [[ 9.14722145e-01 -4.04068892e-01 -3.42458530e-03 5.50854423e+01] [ 4.04065784e-01 9.14728553e-01 -1.58620645e-03 1.32014451e+01] [ 3.77350264e-03 6.71804229e-05 9.99992878e-01 2.09296207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:13.21, Z:0.21 [[ 9.14315153e-01 -4.04988891e-01 -3.43488873e-03 5.51116326e+01] [ 4.04985874e-01 9.14321605e-01 -1.56357165e-03 1.32145111e+01] [ 3.77382213e-03 3.85158333e-05 9.99992878e-01 2.06553301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:13.23, Z:0.21 [[ 9.15238432e-01 -4.02898007e-01 -3.43623488e-03 5.51370151e+01] [ 4.02894987e-01 9.15244882e-01 -1.56061572e-03 1.32257361e+01] [ 3.77376535e-03 4.38936831e-05 9.99992878e-01 2.07377415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:13.24, Z:0.21 [[ 9.15915321e-01 -4.01356862e-01 -3.43436415e-03 5.51618147e+01] [ 4.01353816e-01 9.15921758e-01 -1.56472172e-03 1.32367992e+01] [ 3.77362065e-03 5.47574405e-05 9.99992878e-01 2.05297017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:13.25, Z:0.20 [[ 9.16190812e-01 -4.00727591e-01 -3.43418015e-03 5.51871783e+01] [ 4.00724538e-01 9.16197247e-01 -1.56512546e-03 1.32484262e+01] [ 3.77357535e-03 5.77933099e-05 9.99992878e-01 2.04949936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:13.26, Z:0.20 [[ 9.16630711e-01 -3.99720339e-01 -3.43375593e-03 5.52113170e+01] [ 3.99717276e-01 9.16637140e-01 -1.56605561e-03 1.32596047e+01] [ 3.77349250e-03 6.29630970e-05 9.99992878e-01 2.04531867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.930888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:55.24, Y:13.27, Z:0.20 [[ 9.16693777e-01 -3.99575689e-01 -3.43346880e-03 5.52364386e+01] [ 3.99572623e-01 9.16700204e-01 -1.56668487e-03 1.32717272e+01] [ 3.77347074e-03 6.42501417e-05 9.99992878e-01 2.03798444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:55.26, Y:13.28, Z:0.20 [[ 9.16773789e-01 -3.99392080e-01 -3.43305138e-03 5.52620380e+01] [ 3.99389009e-01 9.16780215e-01 -1.56759903e-03 1.32833699e+01] [ 3.77344022e-03 6.60107096e-05 9.99992878e-01 2.04691818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:13.29, Z:0.21 [[ 9.16625594e-01 -3.99732082e-01 -3.43262113e-03 5.52873168e+01] [ 3.99729009e-01 9.16632019e-01 -1.56854060e-03 1.32936055e+01] [ 3.77344643e-03 6.56462156e-05 9.99992878e-01 2.06472740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:13.30, Z:0.21 [[ 9.16353287e-01 -4.00355932e-01 -3.43243444e-03 5.53156687e+01] [ 4.00352863e-01 9.16359713e-01 -1.56894901e-03 1.33035602e+01] [ 3.77348268e-03 6.35266243e-05 9.99992878e-01 2.06209369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:13.32, Z:0.21 [[ 9.15642914e-01 -4.01977886e-01 -3.43988237e-03 5.53385577e+01] [ 4.01974889e-01 9.15649375e-01 -1.55266193e-03 1.33153963e+01] [ 3.77386190e-03 3.89375567e-05 9.99992878e-01 2.07907717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:13.33, Z:0.21 [[ 9.14967752e-01 -4.03512376e-01 -3.43153935e-03 5.53644535e+01] [ 4.03509322e-01 9.14974185e-01 -1.57088693e-03 1.33265839e+01] [ 3.77364224e-03 5.26527704e-05 9.99992878e-01 2.08063591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.110888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:13.34, Z:0.21 [[ 9.14188850e-01 -4.05273950e-01 -3.43109933e-03 5.53902891e+01] [ 4.05270904e-01 9.14195287e-01 -1.57184742e-03 1.33372356e+01] [ 3.77372365e-03 4.64406562e-05 9.99992878e-01 2.07908586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:13.35, Z:0.21 [[ 9.13910849e-01 -4.05900469e-01 -3.43065835e-03 5.54146374e+01] [ 4.05897425e-01 9.13917287e-01 -1.57280930e-03 1.33483510e+01] [ 3.77374200e-03 4.49120976e-05 9.99992878e-01 2.06475781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:55.44, Y:13.36, Z:0.20 [[ 9.13728805e-01 -4.06310108e-01 -3.43046769e-03 5.54403267e+01] [ 4.06307064e-01 9.13735243e-01 -1.57322504e-03 1.33602942e+01] [ 3.77375646e-03 4.36777769e-05 9.99992878e-01 2.04813269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200888479 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:55.47, Y:13.37, Z:0.20 [[ 9.13828600e-01 -4.06085612e-01 -3.43004906e-03 5.54664410e+01] [ 4.06082563e-01 9.13835036e-01 -1.57413723e-03 1.33712548e+01] [ 3.77373349e-03 4.56085061e-05 9.99992878e-01 2.02326136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230888479 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:55.49, Y:13.38, Z:0.20 [[ 9.13747904e-01 -4.06267160e-01 -3.42961385e-03 5.54923555e+01] [ 4.06264110e-01 9.13754339e-01 -1.57508487e-03 1.33824629e+01] [ 3.77372979e-03 4.59014775e-05 9.99992878e-01 2.02075922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260888479 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:55.52, Y:13.39, Z:0.20 [[ 9.13645628e-01 -4.06497119e-01 -3.42917266e-03 5.55168969e+01] [ 4.06494067e-01 9.13652062e-01 -1.57604481e-03 1.33935187e+01] [ 3.77372835e-03 4.60081129e-05 9.99992878e-01 2.02409214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290888479 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:55.54, Y:13.40, Z:0.20 [[ 9.13348207e-01 -4.07164947e-01 -3.42898144e-03 5.55429002e+01] [ 4.07161898e-01 9.13354643e-01 -1.57646075e-03 1.34044811e+01] [ 3.77375567e-03 4.37070080e-05 9.99992878e-01 2.02305680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:55.57, Y:13.41, Z:0.20 [[ 9.13242063e-01 -4.07402970e-01 -3.42854911e-03 5.55679640e+01] [ 4.07399919e-01 9.13248498e-01 -1.57740042e-03 1.34148098e+01] [ 3.77375494e-03 4.37577872e-05 9.99992878e-01 2.02330294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350888479 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:55.59, Y:13.43, Z:0.20 [[ 9.13140536e-01 -4.07630480e-01 -3.42825374e-03 5.55939943e+01] [ 4.07627428e-01 9.13146971e-01 -1.57804210e-03 1.34256562e+01] [ 3.77375758e-03 4.35239541e-05 9.99992878e-01 2.03223112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:55.62, Y:13.44, Z:0.20 [[ 9.13093858e-01 -4.07735033e-01 -3.42782278e-03 5.56188447e+01] [ 4.07731978e-01 9.13100291e-01 -1.57897768e-03 1.34367204e+01] [ 3.77375050e-03 4.41218573e-05 9.99992878e-01 2.03245345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410888479 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:55.64, Y:13.45, Z:0.20 [[ 9.13222044e-01 -4.07447849e-01 -3.42753058e-03 5.56440694e+01] [ 4.07444790e-01 9.13228475e-01 -1.57961173e-03 1.34488158e+01] [ 3.77372792e-03 4.60067747e-05 9.99992878e-01 2.03372480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440888479 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:55.67, Y:13.46, Z:0.20 [[ 9.13418632e-01 -4.07006950e-01 -3.42710756e-03 5.56692414e+01] [ 4.07003884e-01 9.13425060e-01 -1.58052896e-03 1.34611693e+01] [ 3.77369220e-03 4.88385147e-05 9.99992878e-01 2.03181168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:55.69, Y:13.47, Z:0.20 [[ 9.14260281e-01 -4.05112819e-01 -3.42668508e-03 5.56934066e+01] [ 4.05109736e-01 9.14266701e-01 -1.58144439e-03 1.34729128e+01] [ 3.77356746e-03 5.76682990e-05 9.99992878e-01 2.02753674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500888479 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:55.72, Y:13.48, Z:0.20 [[ 9.14770159e-01 -4.03960166e-01 -3.42650140e-03 5.57189533e+01] [ 4.03957074e-01 9.14776574e-01 -1.58184227e-03 1.34841775e+01] [ 3.77348448e-03 6.28626248e-05 9.99992878e-01 2.02676575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:55.74, Y:13.50, Z:0.20 [[ 9.15241797e-01 -4.02890451e-01 -3.42608576e-03 5.57448147e+01] [ 4.02887347e-01 9.15248207e-01 -1.58274198e-03 1.34954731e+01] [ 3.77339048e-03 6.82650130e-05 9.99992878e-01 2.03610491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:55.77, Y:13.51, Z:0.20 [[ 9.15886799e-01 -4.01422017e-01 -3.42567229e-03 5.57699276e+01] [ 4.01418900e-01 9.15893203e-01 -1.58363639e-03 1.35063208e+01] [ 3.77325648e-03 7.53020632e-05 9.99992878e-01 2.04731522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:55.80, Y:13.52, Z:0.21 [[ 9.16864439e-01 -3.99184001e-01 -3.42549275e-03 5.57957069e+01] [ 3.99180867e-01 9.16870834e-01 -1.58402466e-03 1.35181381e+01] [ 3.77305169e-03 8.49447162e-05 9.99992878e-01 2.06238597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:55.82, Y:13.53, Z:0.21 [[ 9.17387578e-01 -3.97980276e-01 -3.42505211e-03 5.58199397e+01] [ 3.97977130e-01 9.17393968e-01 -1.58497686e-03 1.35300583e+01] [ 3.77291167e-03 9.09456724e-05 9.99992878e-01 2.05868180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:55.84, Y:13.54, Z:0.20 [[ 9.18426544e-01 -3.95576735e-01 -3.42486164e-03 5.58436636e+01] [ 3.95573571e-01 9.18432924e-01 -1.58538831e-03 1.35431985e+01] [ 3.77264843e-03 1.01277957e-04 9.99992878e-01 2.02851806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.680888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:55.87, Y:13.56, Z:0.20 [[ 9.18948249e-01 -3.94363269e-01 -3.42467442e-03 5.58683814e+01] [ 3.94360095e-01 9.18954624e-01 -1.58579265e-03 1.35552211e+01] [ 3.77249876e-03 1.06706444e-04 9.99992878e-01 2.00870398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:55.89, Y:13.57, Z:0.20 [[ 9.19295723e-01 -3.93552596e-01 -3.42449137e-03 5.58943515e+01] [ 3.93549415e-01 9.19302095e-01 -1.58618783e-03 1.35670363e+01] [ 3.77239043e-03 1.10469112e-04 9.99992878e-01 2.00322112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.92, Y:13.58, Z:0.20 [[ 9.19450320e-01 -3.93191283e-01 -3.42404981e-03 5.59201070e+01] [ 3.93188096e-01 9.19456689e-01 -1.58714044e-03 1.35783515e+01] [ 3.77231529e-03 1.13001165e-04 9.99992878e-01 1.99376438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:13.59, Z:0.20 [[ 9.19520540e-01 -3.93027043e-01 -3.42360691e-03 5.59455194e+01] [ 3.93023851e-01 9.19526906e-01 -1.58809524e-03 1.35880765e+01] [ 3.77226305e-03 1.14727018e-04 9.99992878e-01 1.98306541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:55.97, Y:13.60, Z:0.20 [[ 9.19274205e-01 -3.93602867e-01 -3.42341439e-03 5.59711578e+01] [ 3.93599678e-01 9.19280572e-01 -1.58851016e-03 1.35995108e+01] [ 3.77232049e-03 1.12821613e-04 9.99992878e-01 1.99325035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:56.00, Y:13.61, Z:0.20 [[ 9.18254068e-01 -3.95976957e-01 -3.42300063e-03 5.59970121e+01] [ 3.95973781e-01 9.18260442e-01 -1.58940124e-03 1.36104993e+01] [ 3.77257234e-03 1.04055653e-04 9.99992878e-01 2.01567473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.860888478999996 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.02, Y:13.62, Z:0.20 [[ 9.17714738e-01 -3.97225309e-01 -3.42256304e-03 5.60224557e+01] [ 3.97222137e-01 9.17721115e-01 -1.59034297e-03 1.36218857e+01] [ 3.77268285e-03 9.99633774e-05 9.99992878e-01 2.02345915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:56.05, Y:13.63, Z:0.20 [[ 9.17230456e-01 -3.98342290e-01 -3.42212540e-03 5.60498446e+01] [ 3.98339123e-01 9.17236835e-01 -1.59128413e-03 1.36322203e+01] [ 3.77277524e-03 9.64078360e-05 9.99992878e-01 2.01557066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:56.08, Y:13.64, Z:0.21 [[ 9.15990840e-01 -4.01184595e-01 -3.42086019e-03 5.60760779e+01] [ 4.01181438e-01 9.15997223e-01 -1.59400363e-03 1.36444092e+01] [ 3.77298813e-03 8.77071191e-05 9.99992878e-01 2.05743476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:13.66, Z:0.21 [[ 9.15532721e-01 -4.02228951e-01 -3.42167629e-03 5.61022199e+01] [ 4.02225807e-01 9.15539112e-01 -1.59224987e-03 1.36554369e+01] [ 3.77312746e-03 8.14703481e-05 9.99992878e-01 2.06493037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:13.67, Z:0.21 [[ 9.15342361e-01 -4.02661963e-01 -3.42123443e-03 5.61270314e+01] [ 4.02658820e-01 9.15348751e-01 -1.59319871e-03 1.36661374e+01] [ 3.77314318e-03 8.07320573e-05 9.99992878e-01 2.06824047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:56.15, Y:13.68, Z:0.21 [[ 9.15315744e-01 -4.02722466e-01 -3.42104232e-03 5.61516074e+01] [ 4.02719321e-01 9.15322134e-01 -1.59361112e-03 1.36770631e+01] [ 3.77313875e-03 8.09375144e-05 9.99992878e-01 2.06844900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:56.18, Y:13.69, Z:0.21 [[ 9.15566928e-01 -4.02151090e-01 -3.42085906e-03 5.61767015e+01] [ 4.02147939e-01 9.15573314e-01 -1.59400440e-03 1.36897399e+01] [ 3.77307788e-03 8.37262935e-05 9.99992878e-01 2.06506242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:13.70, Z:0.21 [[ 9.15697955e-01 -4.01852654e-01 -3.42043481e-03 5.62018439e+01] [ 4.01849498e-01 9.15704339e-01 -1.59491425e-03 1.37026368e+01] [ 3.77302752e-03 8.59597077e-05 9.99992878e-01 2.07009789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:13.72, Z:0.21 [[ 9.16142970e-01 -4.00837078e-01 -3.41998687e-03 5.62271574e+01] [ 4.00833911e-01 9.16149349e-01 -1.59587419e-03 1.37156310e+01] [ 3.77290429e-03 9.12022100e-05 9.99992878e-01 2.06900876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:13.73, Z:0.21 [[ 9.16335884e-01 -4.00395872e-01 -3.41954235e-03 5.62518738e+01] [ 4.00392699e-01 9.16342260e-01 -1.59682612e-03 1.37275426e+01] [ 3.77283375e-03 9.40692858e-05 9.99992878e-01 2.06353751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:13.74, Z:0.21 [[ 9.16967030e-01 -3.98948336e-01 -3.41934954e-03 5.62764007e+01] [ 3.98945151e-01 9.16973400e-01 -1.59723887e-03 1.37405428e+01] [ 3.77266836e-03 1.00482463e-04 9.99992878e-01 2.05491261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.30, Y:13.75, Z:0.21 [[ 9.17355650e-01 -3.98053916e-01 -3.41921608e-03 5.63012154e+01] [ 3.98050724e-01 9.17362016e-01 -1.59752452e-03 1.37534540e+01] [ 3.77255985e-03 1.04476708e-04 9.99992878e-01 2.05188595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:56.33, Y:13.77, Z:0.20 [[ 9.17691400e-01 -3.97279254e-01 -3.41877169e-03 5.63256218e+01] [ 3.97276053e-01 9.17697762e-01 -1.59847497e-03 1.37661028e+01] [ 3.77244007e-03 1.08710611e-04 9.99992878e-01 2.03410044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:13.78, Z:0.20 [[ 9.17929203e-01 -3.96729494e-01 -3.41857920e-03 5.63506172e+01] [ 3.96726288e-01 9.17935562e-01 -1.59888654e-03 1.37790575e+01] [ 3.77236087e-03 1.11424414e-04 9.99992878e-01 2.03922763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:13.79, Z:0.20 [[ 9.18094731e-01 -3.96346289e-01 -3.41813805e-03 5.63745047e+01] [ 3.96343076e-01 9.18101087e-01 -1.59982908e-03 1.37925254e+01] [ 3.77228258e-03 1.14039297e-04 9.99992878e-01 2.03676954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:56.40, Y:13.81, Z:0.20 [[ 9.17895962e-01 -3.96806403e-01 -3.41794698e-03 5.63991095e+01] [ 3.96803192e-01 9.17902318e-01 -1.60023719e-03 1.38051980e+01] [ 3.77232582e-03 1.12598984e-04 9.99992878e-01 2.03485040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:13.82, Z:0.20 [[ 9.17526889e-01 -3.97659059e-01 -3.41781490e-03 5.64234003e+01] [ 3.97655853e-01 9.17533248e-01 -1.60051923e-03 1.38180809e+01] [ 3.77241978e-03 1.09405333e-04 9.99992878e-01 2.04341318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:13.83, Z:0.21 [[ 9.16602969e-01 -3.99784088e-01 -3.41768668e-03 5.64481572e+01] [ 3.99780896e-01 9.16609335e-01 -1.60079298e-03 1.38318583e+01] [ 3.77265508e-03 1.00965757e-04 9.99992878e-01 2.05967050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:13.84, Z:0.21 [[ 9.15903081e-01 -4.01384936e-01 -3.41755953e-03 5.64726513e+01] [ 4.01381754e-01 9.15909452e-01 -1.60106440e-03 1.38440255e+01] [ 3.77281821e-03 9.46737766e-05 9.99992878e-01 2.06644252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:13.86, Z:0.21 [[ 9.14343472e-01 -4.04925099e-01 -3.41738325e-03 5.64976533e+01] [ 4.04921941e-01 9.14349855e-01 -1.60144058e-03 1.38571885e+01] [ 3.77314736e-03 8.04932816e-05 9.99992878e-01 2.08370214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:13.87, Z:0.21 [[ 9.13660478e-01 -4.06463843e-01 -3.41693127e-03 5.65219989e+01] [ 4.06460691e-01 9.13666864e-01 -1.60240435e-03 1.38696897e+01] [ 3.77325631e-03 7.52052805e-05 9.99992878e-01 2.07863370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:13.88, Z:0.21 [[ 9.12764598e-01 -4.08471681e-01 -3.41673616e-03 5.65466818e+01] [ 4.08468542e-01 9.12770991e-01 -1.60282028e-03 1.38826548e+01] [ 3.77340434e-03 6.73683772e-05 9.99992878e-01 2.07924911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:13.90, Z:0.21 [[ 9.11155506e-01 -4.12048507e-01 -3.41628889e-03 5.65702516e+01] [ 4.12045390e-01 9.11161909e-01 -1.60377304e-03 1.38962265e+01] [ 3.77362459e-03 5.36205479e-05 9.99992878e-01 2.07121824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:13.91, Z:0.21 [[ 9.10278520e-01 -4.13982302e-01 -3.41598499e-03 5.65951593e+01] [ 4.13979196e-01 9.10284929e-01 -1.60442007e-03 1.39090462e+01] [ 3.77372117e-03 4.63224044e-05 9.99992878e-01 2.07336491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.62, Y:13.92, Z:0.21 [[ 9.09407275e-01 -4.15892706e-01 -3.41555023e-03 5.66205666e+01] [ 4.15889610e-01 9.09413688e-01 -1.60534506e-03 1.39220503e+01] [ 3.77379944e-03 3.94206261e-05 9.99992878e-01 2.07716275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.610888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:13.93, Z:0.21 [[ 9.09291953e-01 -4.16144785e-01 -3.41510463e-03 5.66464154e+01] [ 4.16141687e-01 9.09298365e-01 -1.60629244e-03 1.39342906e+01] [ 3.77379928e-03 3.94213866e-05 9.99992878e-01 2.07823769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:13.95, Z:0.21 [[ 9.07733278e-01 -4.19533831e-01 -3.41465910e-03 5.66703219e+01] [ 4.19530753e-01 9.07739701e-01 -1.60723900e-03 1.39469257e+01] [ 3.77391276e-03 2.63898261e-05 9.99992878e-01 2.07921427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:13.96, Z:0.21 [[ 9.06848428e-01 -4.21443082e-01 -3.41435636e-03 5.66940717e+01] [ 4.21440016e-01 9.06854855e-01 -1.60788188e-03 1.39594416e+01] [ 3.77395633e-03 1.91587565e-05 9.99992878e-01 2.07037745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:13.97, Z:0.21 [[ 9.06027857e-01 -4.23204284e-01 -3.41416482e-03 5.67175908e+01] [ 4.23201228e-01 9.06034290e-01 -1.60828848e-03 1.39718959e+01] [ 3.77398497e-03 1.22754179e-05 9.99992878e-01 2.05837140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:13.99, Z:0.21 [[ 9.04135893e-01 -4.27231356e-01 -3.41397707e-03 5.67419311e+01] [ 4.27228327e-01 9.04142339e-01 -1.60868693e-03 1.39862415e+01] [ 3.77400271e-03 -4.07611906e-06 9.99992878e-01 2.05146052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:14.00, Z:0.20 [[ 9.03495964e-01 -4.28583003e-01 -3.41354350e-03 5.67670009e+01] [ 4.28579981e-01 9.03502413e-01 -1.60960641e-03 1.39990175e+01] [ 3.77399474e-03 -8.70351338e-06 9.99992878e-01 2.04743236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:14.01, Z:0.20 [[ 9.02752245e-01 -4.30147338e-01 -3.41340946e-03 5.67922743e+01] [ 4.30144325e-01 9.02758698e-01 -1.60989062e-03 1.40118418e+01] [ 3.77397524e-03 -1.49263311e-05 9.99992878e-01 2.04606043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:14.03, Z:0.21 [[ 9.01786404e-01 -4.32168524e-01 -3.41297748e-03 5.68168404e+01] [ 4.32165523e-01 9.01792862e-01 -1.61080589e-03 1.40260694e+01] [ 3.77393834e-03 -2.23683468e-05 9.99992878e-01 2.05168966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.84, Y:14.04, Z:0.21 [[ 9.01261697e-01 -4.33261707e-01 -3.41284379e-03 5.68424850e+01] [ 4.33258712e-01 9.01268158e-01 -1.61108909e-03 1.40400394e+01] [ 3.77391065e-03 -2.66314221e-05 9.99992878e-01 2.06095568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:14.05, Z:0.21 [[ 9.01005973e-01 -4.33793259e-01 -3.41247367e-03 5.68670222e+01] [ 4.33790266e-01 9.01012435e-01 -1.61187267e-03 1.40537426e+01] [ 3.77390071e-03 -2.79909539e-05 9.99992878e-01 2.06665526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:14.07, Z:0.21 [[ 9.01149012e-01 -4.33496040e-01 -3.41205293e-03 5.68908567e+01] [ 4.33493041e-01 9.01155471e-01 -1.61276282e-03 1.40695024e+01] [ 3.77391646e-03 -2.57615736e-05 9.99992878e-01 2.07389135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:14.08, Z:0.21 [[ 9.01403714e-01 -4.32966171e-01 -3.41161317e-03 5.69159132e+01] [ 4.32963164e-01 9.01410170e-01 -1.61369254e-03 1.40833295e+01] [ 3.77393709e-03 -2.25143789e-05 9.99992878e-01 2.07123877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:14.10, Z:0.21 [[ 9.01797936e-01 -4.32144474e-01 -3.41117122e-03 5.69392325e+01] [ 4.32141458e-01 9.01804388e-01 -1.61462624e-03 1.40962490e+01] [ 3.77396098e-03 -1.80418968e-05 9.99992878e-01 2.06659654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.96, Y:14.11, Z:0.20 [[ 9.03053214e-01 -4.29515144e-01 -3.41087066e-03 5.69624021e+01] [ 4.29512107e-01 9.03059655e-01 -1.61526091e-03 1.41127725e+01] [ 3.77399871e-03 -6.34368975e-06 9.99992878e-01 2.04210277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.99, Y:14.13, Z:0.20 [[ 9.03709501e-01 -4.28132579e-01 -3.41073535e-03 5.69861891e+01] [ 4.28129531e-01 9.03715937e-01 -1.61554658e-03 1.41272416e+01] [ 3.77400402e-03 -2.51733092e-07 9.99992878e-01 2.03433169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.01, Y:14.14, Z:0.20 [[ 9.04363594e-01 -4.26749176e-01 -3.41029231e-03 5.70106352e+01] [ 4.26746114e-01 9.04370024e-01 -1.61648125e-03 1.41415826e+01] [ 3.77399819e-03 6.55780148e-06 9.99992878e-01 2.01714232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:57.03, Y:14.15, Z:0.20 [[ 9.04906354e-01 -4.25597065e-01 -3.41015527e-03 5.70348268e+01] [ 4.25593994e-01 9.04912780e-01 -1.61677032e-03 1.41549309e+01] [ 3.77398578e-03 1.16841334e-05 9.99992878e-01 2.00852548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:57.06, Y:14.17, Z:0.20 [[ 9.05491123e-01 -4.24351502e-01 -3.41002164e-03 5.70585642e+01] [ 4.24348421e-01 9.05497544e-01 -1.61705210e-03 1.41696249e+01] [ 3.77396471e-03 1.71890201e-05 9.99992878e-01 2.02297907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:57.08, Y:14.18, Z:0.20 [[ 9.05599579e-01 -4.24120004e-01 -3.40959408e-03 5.70831813e+01] [ 4.24116919e-01 9.05605997e-01 -1.61795313e-03 1.41835888e+01] [ 3.77395513e-03 1.91511397e-05 9.99992878e-01 2.03252668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:57.11, Y:14.20, Z:0.20 [[ 9.05607406e-01 -4.24103293e-01 -3.40914428e-03 5.71076052e+01] [ 4.24100204e-01 9.05613823e-01 -1.61890034e-03 1.41976833e+01] [ 3.77394915e-03 2.02693551e-05 9.99992878e-01 2.02835648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210888479 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:57.13, Y:14.21, Z:0.20 [[ 9.05515011e-01 -4.24300535e-01 -3.40900504e-03 5.71327198e+01] [ 4.24297446e-01 9.05521428e-01 -1.61919348e-03 1.42116487e+01] [ 3.77395177e-03 1.97718748e-05 9.99992878e-01 2.04820110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:57.16, Y:14.23, Z:0.21 [[ 9.05880520e-01 -4.23519615e-01 -3.40860389e-03 5.71572859e+01] [ 4.23516517e-01 9.05886933e-01 -1.62003752e-03 1.42257828e+01] [ 3.77392739e-03 2.39603894e-05 9.99992878e-01 2.05776739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27088847899999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:57.18, Y:14.24, Z:0.21 [[ 9.06208232e-01 -4.22817954e-01 -3.40846174e-03 5.71817890e+01] [ 4.22814850e-01 9.06214642e-01 -1.62033654e-03 1.42388687e+01] [ 3.77390531e-03 2.72140779e-05 9.99992878e-01 2.06196364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.300888479 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:57.21, Y:14.25, Z:0.21 [[ 9.06530413e-01 -4.22126754e-01 -3.40801691e-03 5.72060067e+01] [ 4.22123641e-01 9.06536818e-01 -1.62127159e-03 1.42525173e+01] [ 3.77387492e-03 3.11274968e-05 9.99992878e-01 2.06808217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.330888479 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:57.23, Y:14.27, Z:0.21 [[ 9.08003188e-01 -4.18949399e-01 -3.40756809e-03 5.72299764e+01] [ 4.18946260e-01 9.08009581e-01 -1.62221438e-03 1.42685717e+01] [ 3.77373021e-03 4.53879231e-05 9.99992878e-01 2.06544137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360888479 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:57.25, Y:14.28, Z:0.21 [[ 9.08500332e-01 -4.17870240e-01 -3.40711321e-03 5.72548678e+01] [ 4.17867091e-01 9.08506720e-01 -1.62316919e-03 1.42833075e+01] [ 3.77365935e-03 5.09292684e-05 9.99992878e-01 2.05710579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390888479 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:57.27, Y:14.30, Z:0.20 [[ 9.09811537e-01 -4.15007631e-01 -3.41081225e-03 5.72730089e+01] [ 4.15004490e-01 9.09817929e-01 -1.61540883e-03 1.42974733e+01] [ 3.77362513e-03 5.42151903e-05 9.99992878e-01 1.97959775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420888479 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:57.31, Y:14.31, Z:0.20 [[ 9.12745564e-01 -4.08514475e-01 -3.38515682e-03 5.73058227e+01] [ 4.08511088e-01 9.12751830e-01 -1.66958063e-03 1.43075137e+01] [ 3.77185594e-03 1.41028217e-04 9.99992877e-01 2.03359888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450888479 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:57.33, Y:14.32, Z:0.20 [[ 9.13391759e-01 -4.07067384e-01 -3.41156104e-03 5.73307226e+01] [ 4.07064194e-01 9.13398127e-01 -1.61376098e-03 1.43202082e+01] [ 3.77302292e-03 8.52716323e-05 9.99992878e-01 2.03295471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480888479 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:57.35, Y:14.33, Z:0.20 [[ 9.14718566e-01 -4.04077109e-01 -3.41111333e-03 5.73541309e+01] [ 4.04073895e-01 9.14724921e-01 -1.61470679e-03 1.43339440e+01] [ 3.77269642e-03 9.86604284e-05 9.99992878e-01 2.03848150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510888479 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:57.38, Y:14.35, Z:0.20 [[ 9.15068147e-01 -4.03284828e-01 -3.41091913e-03 5.73781129e+01] [ 4.03281607e-01 9.15074498e-01 -1.61511690e-03 1.43476780e+01] [ 3.77259725e-03 1.02381075e-04 9.99992878e-01 2.02648176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540888479 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:57.40, Y:14.36, Z:0.20 [[ 9.15485769e-01 -4.02335898e-01 -3.41062024e-03 5.74030446e+01] [ 4.02332668e-01 9.15492115e-01 -1.61574782e-03 1.43615685e+01] [ 3.77246929e-03 1.06990188e-04 9.99992878e-01 2.02283446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570888479 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:57.43, Y:14.37, Z:0.20 [[ 9.15862345e-01 -4.01477940e-01 -3.41016789e-03 5.74270216e+01] [ 4.01474700e-01 9.15868687e-01 -1.61670197e-03 1.43747391e+01] [ 3.77233617e-03 1.11580331e-04 9.99992878e-01 2.00772449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600888479 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:57.45, Y:14.39, Z:0.20 [[ 9.15121970e-01 -4.03162687e-01 -3.40997192e-03 5.74478942e+01] [ 4.03159458e-01 9.15128317e-01 -1.61711522e-03 1.43886614e+01] [ 3.77252238e-03 1.05095240e-04 9.99992878e-01 2.02542684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630888479 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:57.48, Y:14.40, Z:0.20 [[ 9.15872041e-01 -4.01455970e-01 -3.39235227e-03 5.74778322e+01] [ 4.01452591e-01 9.15878311e-01 -1.65422688e-03 1.43993638e+01] [ 3.77108112e-03 1.53191542e-04 9.99992878e-01 2.03651033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.660888479 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:57.50, Y:14.41, Z:0.20 [[ 9.15414035e-01 -4.02499092e-01 -3.40958336e-03 5.75026835e+01] [ 4.02495855e-01 9.15420378e-01 -1.61791419e-03 1.44118066e+01] [ 3.77241108e-03 1.08718184e-04 9.99992879e-01 2.04409270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.690888479 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:57.53, Y:14.42, Z:0.20 [[ 9.15157581e-01 -4.03081849e-01 -3.40944492e-03 5.75265759e+01] [ 4.03078615e-01 9.15163926e-01 -1.61820586e-03 1.44242253e+01] [ 3.77247041e-03 1.06639029e-04 9.99992879e-01 2.04380993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.720888479 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:57.55, Y:14.44, Z:0.20 [[ 9.14992161e-01 -4.03457213e-01 -3.40925258e-03 5.75516654e+01] [ 4.03453980e-01 9.14998506e-01 -1.61861099e-03 1.44369328e+01] [ 3.77250129e-03 1.05539843e-04 9.99992879e-01 2.03705049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750888479 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:57.57, Y:14.45, Z:0.20 [[ 9.12643267e-01 -4.08742762e-01 -3.40911750e-03 5.75675989e+01] [ 4.08739564e-01 9.12649630e-01 -1.61889543e-03 1.44515706e+01] [ 3.77304162e-03 8.40328124e-05 9.99992879e-01 2.00720320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780888479 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:57.60, Y:14.46, Z:0.20 [[ 9.14553960e-01 -4.04449821e-01 -3.37599739e-03 5.76029412e+01] [ 4.04446336e-01 9.14560173e-01 -1.68851113e-03 1.44601908e+01] [ 3.77047078e-03 1.78824765e-04 9.99992876e-01 2.04721156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810888479 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:57.63, Y:14.47, Z:0.21 [[ 9.14343372e-01 -4.04925398e-01 -3.40886303e-03 5.76280562e+01] [ 4.04922172e-01 9.14349721e-01 -1.61932526e-03 1.44722196e+01] [ 3.77259888e-03 1.00295096e-04 9.99992879e-01 2.05033821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840888479 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:57.65, Y:14.48, Z:0.21 [[ 9.14259562e-01 -4.05114597e-01 -3.40840752e-03 5.76527050e+01] [ 4.05111369e-01 9.14265909e-01 -1.62028347e-03 1.44849475e+01] [ 3.77259128e-03 1.00575019e-04 9.99992879e-01 2.05111986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870888479 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:57.68, Y:14.50, Z:0.20 [[ 9.14220262e-01 -4.05203279e-01 -3.40826636e-03 5.76766766e+01] [ 4.05200050e-01 9.14226609e-01 -1.62058033e-03 1.44979576e+01] [ 3.77259226e-03 1.00537673e-04 9.99992879e-01 2.03468546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900888479 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:57.70, Y:14.51, Z:0.20 [[ 9.14086750e-01 -4.05504375e-01 -3.40807628e-03 5.77018274e+01] [ 4.05501148e-01 9.14093098e-01 -1.62097997e-03 1.45096218e+01] [ 3.77261348e-03 9.97374726e-05 9.99992879e-01 2.03008891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930888479 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:57.73, Y:14.52, Z:0.20 [[ 9.14027034e-01 -4.05638963e-01 -3.40762597e-03 5.77276242e+01] [ 4.05635733e-01 9.14033381e-01 -1.62192607e-03 1.45207349e+01] [ 3.77260030e-03 1.00229418e-04 9.99992879e-01 2.01261946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960888479 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:57.75, Y:14.53, Z:0.20 [[ 9.13911264e-01 -4.05899730e-01 -3.40748671e-03 5.77545081e+01] [ 4.05896500e-01 9.13917611e-01 -1.62221858e-03 1.45313780e+01] [ 3.77262020e-03 9.94769026e-05 9.99992879e-01 2.01803079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990888479 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:57.78, Y:14.54, Z:0.20 [[ 9.13816024e-01 -4.06114104e-01 -3.40709981e-03 5.77789672e+01] [ 4.06110873e-01 9.13822370e-01 -1.62303078e-03 1.45423812e+01] [ 3.77261971e-03 9.94912617e-05 9.99992879e-01 2.00074500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02088847899999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:57.80, Y:14.55, Z:0.20 [[ 9.13557934e-01 -4.06694349e-01 -3.40690846e-03 5.78042480e+01] [ 4.06691121e-01 9.13564282e-01 -1.62343235e-03 1.45542559e+01] [ 3.77267064e-03 9.75400803e-05 9.99992879e-01 2.00919739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.050888479 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:57.83, Y:14.57, Z:0.20 [[ 9.13328311e-01 -4.07209765e-01 -3.40647573e-03 5.78300605e+01] [ 4.07206537e-01 9.13334658e-01 -1.62433984e-03 1.45661746e+01] [ 3.77269939e-03 9.64163828e-05 9.99992879e-01 2.01907538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.080888479 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:57.86, Y:14.58, Z:0.20 [[ 9.13131118e-01 -4.07651764e-01 -3.40609525e-03 5.78558398e+01] [ 4.07648536e-01 9.13137465e-01 -1.62513728e-03 1.45775888e+01] [ 3.77272326e-03 9.54736842e-05 9.99992879e-01 2.01478824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110888479 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:57.88, Y:14.59, Z:0.20 [[ 9.12762698e-01 -4.08476017e-01 -3.40596049e-03 5.78816313e+01] [ 4.08472793e-01 9.12769048e-01 -1.62541966e-03 1.45883120e+01] [ 3.77280026e-03 9.23802429e-05 9.99992879e-01 2.02439404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140888479 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:57.91, Y:14.60, Z:0.21 [[ 9.11876785e-01 -4.10449911e-01 -3.40577153e-03 5.79090918e+01] [ 4.10446699e-01 9.11883141e-01 -1.62581550e-03 1.45971190e+01] [ 3.77298147e-03 8.46557267e-05 9.99992879e-01 2.06007051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170888479 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:57.93, Y:14.61, Z:0.21 [[ 9.11560770e-01 -4.11151269e-01 -3.40538435e-03 5.79336964e+01] [ 4.11148060e-01 9.11567127e-01 -1.62662606e-03 1.46078158e+01] [ 3.77302580e-03 8.26513367e-05 9.99992879e-01 2.05709921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200888479 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:57.96, Y:14.62, Z:0.21 [[ 9.11365943e-01 -4.11582947e-01 -3.40519224e-03 5.79591690e+01] [ 4.11579739e-01 9.11372301e-01 -1.62702814e-03 1.46194622e+01] [ 3.77305492e-03 8.13098980e-05 9.99992879e-01 2.05534837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230888479 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:57.98, Y:14.63, Z:0.21 [[ 9.11167299e-01 -4.12022524e-01 -3.40474252e-03 5.79845609e+01] [ 4.12019316e-01 9.11173657e-01 -1.62796867e-03 1.46310577e+01] [ 3.77307146e-03 8.05321324e-05 9.99992879e-01 2.05312954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260888479 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:58.01, Y:14.64, Z:0.21 [[ 9.11189857e-01 -4.11972638e-01 -3.40428631e-03 5.80094754e+01] [ 4.11969426e-01 9.11196213e-01 -1.62892212e-03 1.46418953e+01] [ 3.77304413e-03 8.17954380e-05 9.99992879e-01 2.05500690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290888479 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:58.04, Y:14.65, Z:0.21 [[ 9.11548436e-01 -4.11178623e-01 -3.40408857e-03 5.80351828e+01] [ 4.11175404e-01 9.11554788e-01 -1.62933524e-03 1.46521582e+01] [ 3.77296106e-03 8.55405006e-05 9.99992879e-01 2.07003428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320888479 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:58.06, Y:14.66, Z:0.21 [[ 9.11753106e-01 -4.10724590e-01 -3.40363870e-03 5.80610831e+01] [ 4.10721364e-01 9.11759455e-01 -1.63027446e-03 1.46636779e+01] [ 3.77289358e-03 8.84606750e-05 9.99992879e-01 2.07191366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350888479 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:58.09, Y:14.67, Z:0.21 [[ 9.12101735e-01 -4.09949807e-01 -3.40318011e-03 5.80861853e+01] [ 4.09946572e-01 9.12108079e-01 -1.63123120e-03 1.46747469e+01] [ 3.77279099e-03 9.27267913e-05 9.99992879e-01 2.06616931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380888479 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:58.11, Y:14.69, Z:0.20 [[ 9.12447739e-01 -4.09179110e-01 -3.40298114e-03 5.81127000e+01] [ 4.09175868e-01 9.12454079e-01 -1.63164618e-03 1.46865869e+01] [ 3.77269955e-03 9.63741080e-05 9.99992879e-01 2.03701855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.410888479 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:58.14, Y:14.70, Z:0.20 [[ 9.12675666e-01 -4.08670467e-01 -3.40258406e-03 5.81376264e+01] [ 4.08667218e-01 9.12682004e-01 -1.63247381e-03 1.46981264e+01] [ 3.77262107e-03 9.93945641e-05 9.99992879e-01 2.02519224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.440888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:58.16, Y:14.71, Z:0.20 [[ 9.12766506e-01 -4.08467538e-01 -3.40244390e-03 5.81626465e+01] [ 4.08464287e-01 9.12772842e-01 -1.63276589e-03 1.47095436e+01] [ 3.77259025e-03 1.00557199e-04 9.99992879e-01 2.02037173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.470888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:58.19, Y:14.72, Z:0.20 [[ 9.12655105e-01 -4.08716385e-01 -3.40224889e-03 5.81883796e+01] [ 4.08713134e-01 9.12661441e-01 -1.63317213e-03 1.47219880e+01] [ 3.77260559e-03 9.99790744e-05 9.99992879e-01 2.02144879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:58.21, Y:14.73, Z:0.20 [[ 9.12596900e-01 -4.08846334e-01 -3.40180336e-03 5.82142236e+01] [ 4.08843081e-01 9.12603235e-01 -1.63409962e-03 1.47322873e+01] [ 3.77259239e-03 1.00470483e-04 9.99992879e-01 2.02363649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530888479 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:58.24, Y:14.74, Z:0.20 [[ 9.12421810e-01 -4.09236939e-01 -3.40135652e-03 5.82395310e+01] [ 4.09233685e-01 9.12428144e-01 -1.63502919e-03 1.47429611e+01] [ 3.77260776e-03 9.98866293e-05 9.99992879e-01 2.02828063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560888479 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:58.26, Y:14.75, Z:0.20 [[ 9.12192518e-01 -4.09747779e-01 -3.40105288e-03 5.82646345e+01] [ 4.09744526e-01 9.12198853e-01 -1.63566055e-03 1.47536059e+01] [ 3.77264481e-03 9.84745176e-05 9.99992879e-01 2.03306919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:58.29, Y:14.77, Z:0.20 [[ 9.12130404e-01 -4.09886034e-01 -3.40075229e-03 5.82903949e+01] [ 4.09882779e-01 9.12136739e-01 -1.63628527e-03 1.47650449e+01] [ 3.77264158e-03 9.85957410e-05 9.99992879e-01 2.03984532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:58.32, Y:14.78, Z:0.21 [[ 9.12403231e-01 -4.09278366e-01 -3.40061678e-03 5.83169655e+01] [ 4.09275106e-01 9.12409562e-01 -1.63656685e-03 1.47771668e+01] [ 3.77256667e-03 1.01421084e-04 9.99992879e-01 2.05509082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:58.34, Y:14.79, Z:0.21 [[ 9.12505714e-01 -4.09049827e-01 -3.40023377e-03 5.83428634e+01] [ 4.09046563e-01 9.12512043e-01 -1.63736224e-03 1.47888878e+01] [ 3.77251700e-03 1.03248461e-04 9.99992879e-01 2.05961957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680888479 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:58.37, Y:14.80, Z:0.21 [[ 9.12794496e-01 -4.08405006e-01 -3.39979565e-03 5.83675586e+01] [ 4.08401734e-01 9.12800822e-01 -1.63827142e-03 1.47996263e+01] [ 3.77241452e-03 1.06922700e-04 9.99992879e-01 2.06047746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:58.39, Y:14.81, Z:0.21 [[ 9.13294274e-01 -4.07286156e-01 -3.39949838e-03 5.83933707e+01] [ 4.07282874e-01 9.13300594e-01 -1.63888804e-03 1.48100651e+01] [ 3.77226030e-03 1.12229593e-04 9.99992879e-01 2.05340510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:58.42, Y:14.82, Z:0.20 [[ 9.13498922e-01 -4.06826949e-01 -3.39905976e-03 5.84192130e+01] [ 4.06823660e-01 9.13505238e-01 -1.63979725e-03 1.48219028e+01] [ 3.77217261e-03 1.15135087e-04 9.99992879e-01 2.04663359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77088847899999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:58.44, Y:14.83, Z:0.20 [[ 9.13942875e-01 -4.05828622e-01 -3.39861796e-03 5.84436760e+01] [ 4.05825323e-01 9.13949186e-01 -1.64071239e-03 1.48327191e+01] [ 3.77201217e-03 1.20272168e-04 9.99992879e-01 2.04283103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.800888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:58.47, Y:14.84, Z:0.20 [[ 9.14282231e-01 -4.05063518e-01 -3.39842618e-03 5.84683294e+01] [ 4.05060212e-01 9.14288538e-01 -1.64110954e-03 1.48434996e+01] [ 3.77189571e-03 1.23870056e-04 9.99992879e-01 2.03966465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.830888479 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:58.49, Y:14.85, Z:0.21 [[ 9.15017634e-01 -4.03399530e-01 -3.39823605e-03 5.84942972e+01] [ 4.03396212e-01 9.15023935e-01 -1.64150314e-03 1.48533856e+01] [ 3.77164892e-03 1.31168771e-04 9.99992879e-01 2.05837964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:58.52, Y:14.86, Z:0.21 [[ 9.15239017e-01 -4.02897004e-01 -3.39779478e-03 5.85191497e+01] [ 4.02893679e-01 9.15245315e-01 -1.64241603e-03 1.48647490e+01] [ 3.77154025e-03 1.34253193e-04 9.99992879e-01 2.06302703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:58.55, Y:14.88, Z:0.21 [[ 9.15349546e-01 -4.02645830e-01 -3.39760385e-03 5.85451186e+01] [ 4.02642502e-01 9.15355842e-01 -1.64281091e-03 1.48764029e+01] [ 3.77148750e-03 1.35726502e-04 9.99992879e-01 2.06618928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:58.57, Y:14.89, Z:0.21 [[ 9.15202475e-01 -4.02980010e-01 -3.39716053e-03 5.85719363e+01] [ 4.02976680e-01 9.15208770e-01 -1.64372715e-03 1.48860561e+01] [ 3.77150029e-03 1.35366687e-04 9.99992879e-01 2.06828707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:58.60, Y:14.90, Z:0.21 [[ 9.14890450e-01 -4.03687908e-01 -3.39670761e-03 5.85969809e+01] [ 4.03684580e-01 9.14896745e-01 -1.64466255e-03 1.48965744e+01] [ 3.77156712e-03 1.33487571e-04 9.99992879e-01 2.06388429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.62, Y:14.91, Z:0.21 [[ 9.14502094e-01 -4.04566910e-01 -3.39639893e-03 5.86230952e+01] [ 4.04563586e-01 9.14508391e-01 -1.64529977e-03 1.49075845e+01] [ 3.77166916e-03 1.30570756e-04 9.99992879e-01 2.06588179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:58.65, Y:14.92, Z:0.21 [[ 9.14110973e-01 -4.05449869e-01 -3.39594644e-03 5.86478090e+01] [ 4.05446547e-01 9.14117272e-01 -1.64623318e-03 1.49177856e+01] [ 3.77175833e-03 1.27965050e-04 9.99992879e-01 2.05943232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:58.67, Y:14.93, Z:0.21 [[ 9.13032319e-01 -4.07873084e-01 -3.39575025e-03 5.86746554e+01] [ 4.07869777e-01 9.13038627e-01 -1.64663779e-03 1.49261600e+01] [ 3.77207037e-03 1.18409621e-04 9.99992879e-01 2.07360985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:14.94, Z:0.21 [[ 9.12447542e-01 -4.09179613e-01 -3.39531401e-03 5.87008963e+01] [ 4.09176312e-01 9.12453852e-01 -1.64753680e-03 1.49365299e+01] [ 3.77220582e-03 1.14008840e-04 9.99992879e-01 2.08487668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:58.73, Y:14.95, Z:0.21 [[ 9.11819498e-01 -4.10577249e-01 -3.39486930e-03 5.87267082e+01] [ 4.10573954e-01 9.11825812e-01 -1.64845264e-03 1.49471798e+01] [ 3.77234661e-03 1.09246349e-04 9.99992879e-01 2.09268157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.75, Y:14.96, Z:0.21 [[ 9.11390344e-01 -4.11529001e-01 -3.39442019e-03 5.87525277e+01] [ 4.11525709e-01 9.11396659e-01 -1.64937692e-03 1.49582521e+01] [ 3.77242965e-03 1.06335022e-04 9.99992879e-01 2.09557944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.160888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:58.78, Y:14.97, Z:0.21 [[ 9.10905296e-01 -4.12601527e-01 -3.39428124e-03 5.87793373e+01] [ 4.12598242e-01 9.10911614e-01 -1.64966281e-03 1.49675254e+01] [ 3.77254360e-03 1.02212122e-04 9.99992879e-01 2.10810474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.190888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:58.80, Y:14.98, Z:0.21 [[ 9.10806589e-01 -4.12819379e-01 -3.39385369e-03 5.88049731e+01] [ 4.12816092e-01 9.10812906e-01 -1.65054194e-03 1.49779239e+01] [ 3.77254144e-03 1.02287053e-04 9.99992879e-01 2.11269865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.220888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:58.83, Y:14.99, Z:0.21 [[ 9.10570048e-01 -4.13340866e-01 -3.39342959e-03 5.88312228e+01] [ 4.13337580e-01 9.10576366e-01 -1.65141341e-03 1.49870904e+01] [ 3.77257343e-03 1.01095611e-04 9.99992879e-01 2.12456563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:15.00, Z:0.21 [[ 9.09857672e-01 -4.14906622e-01 -3.39300318e-03 5.88570868e+01] [ 4.14903343e-01 9.09863993e-01 -1.65228906e-03 1.49981578e+01] [ 3.77271709e-03 9.55795164e-05 9.99992879e-01 2.13845976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:15.01, Z:0.21 [[ 9.09998082e-01 -4.14598583e-01 -3.39210213e-03 5.88842292e+01] [ 4.14595295e-01 9.10004398e-01 -1.65413823e-03 1.50092554e+01] [ 3.77263122e-03 9.89130377e-05 9.99992879e-01 2.14550005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:15.02, Z:0.21 [[ 9.09677401e-01 -4.15301719e-01 -3.39243924e-03 5.89103659e+01] [ 4.15298438e-01 9.09683722e-01 -1.65344656e-03 1.50202070e+01] [ 3.77272595e-03 9.52282539e-05 9.99992879e-01 2.13727149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:15.03, Z:0.21 [[ 9.08108818e-01 -4.18720515e-01 -3.39197969e-03 5.89353076e+01] [ 4.18717255e-01 9.08115149e-01 -1.65438877e-03 1.50311787e+01] [ 3.77303466e-03 8.20846086e-05 9.99992879e-01 2.11341937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:15.04, Z:0.21 [[ 9.08310512e-01 -4.18282861e-01 -3.38564737e-03 5.89628303e+01] [ 4.18279550e-01 9.08316816e-01 -1.66736183e-03 1.50414745e+01] [ 3.77266931e-03 9.83352228e-05 9.99992879e-01 2.11065728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:15.05, Z:0.21 [[ 9.07734759e-01 -4.19530816e-01 -3.39143601e-03 5.89891032e+01] [ 4.19527557e-01 9.07741091e-01 -1.65550332e-03 1.50520757e+01] [ 3.77308048e-03 7.99570391e-05 9.99992879e-01 2.13212158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:15.06, Z:0.22 [[ 9.06448363e-01 -4.22303050e-01 -3.39099662e-03 5.90161885e+01] [ 4.22299807e-01 9.06454703e-01 -1.65640284e-03 1.50611311e+01] [ 3.77328880e-03 6.94264241e-05 9.99992879e-01 2.16889353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:15.07, Z:0.22 [[ 9.05756788e-01 -4.23784314e-01 -3.39053769e-03 5.90410680e+01] [ 4.23781078e-01 9.05763132e-01 -1.65734170e-03 1.50722417e+01] [ 3.77337945e-03 6.43027792e-05 9.99992879e-01 2.16911590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:15.08, Z:0.22 [[ 9.04943154e-01 -4.25518969e-01 -3.39033905e-03 5.90670257e+01] [ 4.25515744e-01 9.04949503e-01 -1.65774794e-03 1.50837279e+01] [ 3.77348884e-03 5.75250050e-05 9.99992879e-01 2.18708242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:15.09, Z:0.22 [[ 9.04234078e-01 -4.27023700e-01 -3.38988244e-03 5.90926674e+01] [ 4.27020482e-01 9.04240431e-01 -1.65868113e-03 1.50949536e+01] [ 3.77356491e-03 5.22867702e-05 9.99992879e-01 2.19527459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:15.10, Z:0.22 [[ 9.03018399e-01 -4.29588503e-01 -3.38942481e-03 5.91184524e+01] [ 4.29585300e-01 9.03024759e-01 -1.65961575e-03 1.51045464e+01] [ 3.77368637e-03 4.26164858e-05 9.99992879e-01 2.21410793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:15.12, Z:0.22 [[ 9.02654435e-01 -4.30352744e-01 -3.38928324e-03 5.91429034e+01] [ 4.30349544e-01 9.02660797e-01 -1.65990480e-03 1.51153794e+01] [ 3.77371770e-03 3.97439331e-05 9.99992879e-01 2.21864654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.17, Y:15.13, Z:0.22 [[ 9.02242160e-01 -4.31216418e-01 -3.38908780e-03 5.91682763e+01] [ 4.31213223e-01 9.02248524e-01 -1.66030375e-03 1.51271085e+01] [ 3.77374970e-03 3.65765664e-05 9.99992879e-01 2.22291846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:15.14, Z:0.22 [[ 9.01875009e-01 -4.31983778e-01 -3.38864422e-03 5.91936446e+01] [ 4.31980585e-01 9.01881375e-01 -1.66120859e-03 1.51390835e+01] [ 3.77377027e-03 3.43739969e-05 9.99992879e-01 2.22454503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.22, Y:15.15, Z:0.22 [[ 9.01466638e-01 -4.32835327e-01 -3.38819973e-03 5.92200542e+01] [ 4.32832137e-01 9.01473005e-01 -1.66211468e-03 1.51498257e+01] [ 3.77379255e-03 3.18191985e-05 9.99992879e-01 2.22886345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:15.16, Z:0.22 [[ 9.01327668e-01 -4.33124644e-01 -3.38774786e-03 5.92444136e+01] [ 4.33121453e-01 9.01334034e-01 -1.66303518e-03 1.51608704e+01] [ 3.77379397e-03 3.16333453e-05 9.99992879e-01 2.23055165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:15.17, Z:0.22 [[ 9.01118703e-01 -4.33559233e-01 -3.38744118e-03 5.92697912e+01] [ 4.33556042e-01 9.01125069e-01 -1.66365962e-03 1.51729068e+01] [ 3.77380316e-03 3.05092098e-05 9.99992879e-01 2.22639900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.30, Y:15.18, Z:0.22 [[ 9.01033904e-01 -4.33735441e-01 -3.38699038e-03 5.92957692e+01] [ 4.33732248e-01 9.01040269e-01 -1.66457689e-03 1.51841496e+01] [ 3.77380071e-03 3.07932554e-05 9.99992879e-01 2.22796038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:15.20, Z:0.22 [[ 9.00982188e-01 -4.33842862e-01 -3.38654108e-03 5.93213441e+01] [ 4.33839667e-01 9.00988551e-01 -1.66549048e-03 1.51960370e+01] [ 3.77379590e-03 3.13614045e-05 9.99992879e-01 2.22889012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:15.21, Z:0.22 [[ 9.00974121e-01 -4.33859617e-01 -3.38611729e-03 5.93455164e+01] [ 4.33856418e-01 9.00980484e-01 -1.66635165e-03 1.52080227e+01] [ 3.77378828e-03 3.22509978e-05 9.99992879e-01 2.22843707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.37, Y:15.22, Z:0.22 [[ 9.01129651e-01 -4.33536489e-01 -3.38591974e-03 5.93697700e+01] [ 4.33533287e-01 9.01136012e-01 -1.66675296e-03 1.52201954e+01] [ 3.77377243e-03 3.40516041e-05 9.99992879e-01 2.22813512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:15.23, Z:0.22 [[ 9.01430448e-01 -4.32910713e-01 -3.38561765e-03 5.93946093e+01] [ 4.32907504e-01 9.01436805e-01 -1.66736636e-03 1.52329409e+01] [ 3.77374111e-03 3.73555222e-05 9.99992879e-01 2.23834816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.910888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.42, Y:15.24, Z:0.22 [[ 9.01554331e-01 -4.32652665e-01 -3.38516701e-03 5.94194661e+01] [ 4.32649450e-01 9.01560686e-01 -1.66828077e-03 1.52449746e+01] [ 3.77371961e-03 3.94551030e-05 9.99992879e-01 2.24567439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:15.26, Z:0.23 [[ 9.01633917e-01 -4.32486790e-01 -3.38471357e-03 5.94445327e+01] [ 4.32483571e-01 9.01640269e-01 -1.66920022e-03 1.52570560e+01] [ 3.77370110e-03 4.11745251e-05 9.99992879e-01 2.25586223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:15.27, Z:0.23 [[ 9.01487438e-01 -4.32792035e-01 -3.38425903e-03 5.94693877e+01] [ 4.32788814e-01 9.01493790e-01 -1.67012129e-03 1.52691074e+01] [ 3.77370369e-03 4.09239140e-05 9.99992879e-01 2.26414120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:15.28, Z:0.23 [[ 9.01185937e-01 -4.33419493e-01 -3.38380541e-03 5.94941380e+01] [ 4.33416274e-01 9.01192289e-01 -1.67103985e-03 1.52814345e+01] [ 3.77372059e-03 3.93212795e-05 9.99992879e-01 2.27041377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:15.29, Z:0.23 [[ 9.00794517e-01 -4.34232416e-01 -3.38334453e-03 5.95186247e+01] [ 4.34229199e-01 9.00800870e-01 -1.67197247e-03 1.52939438e+01] [ 3.77374434e-03 3.69566440e-05 9.99992879e-01 2.26447091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:15.31, Z:0.23 [[ 9.00474154e-01 -4.34896370e-01 -3.38314433e-03 5.95432977e+01] [ 4.34893156e-01 9.00480509e-01 -1.67237748e-03 1.53065100e+01] [ 3.77376642e-03 3.46263822e-05 9.99992879e-01 2.27351930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:15.32, Z:0.23 [[ 9.00449484e-01 -4.34947451e-01 -3.38268413e-03 5.95673486e+01] [ 4.34944233e-01 9.00455837e-01 -1.67330779e-03 1.53186449e+01] [ 3.77375863e-03 3.54501802e-05 9.99992879e-01 2.28061124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:59.59, Y:15.33, Z:0.23 [[ 9.00695858e-01 -4.34437028e-01 -3.38237118e-03 5.95924828e+01] [ 4.34433804e-01 9.00702208e-01 -1.67394013e-03 1.53310468e+01] [ 3.77373077e-03 3.82945631e-05 9.99992879e-01 2.28140189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:59.62, Y:15.34, Z:0.23 [[ 9.00843160e-01 -4.34131505e-01 -3.38194088e-03 5.96180395e+01] [ 4.34128276e-01 9.00849507e-01 -1.67480905e-03 1.53436743e+01] [ 3.77370714e-03 4.05441113e-05 9.99992879e-01 2.28050769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:59.64, Y:15.36, Z:0.23 [[ 9.01018798e-01 -4.33766862e-01 -3.38147857e-03 5.96424102e+01] [ 4.33763627e-01 9.01025143e-01 -1.67574193e-03 1.53560436e+01] [ 3.77367853e-03 4.31125657e-05 9.99992879e-01 2.26096220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.67, Y:15.37, Z:0.23 [[ 9.01163829e-01 -4.33465478e-01 -3.38128025e-03 5.96671048e+01] [ 4.33462240e-01 9.01170171e-01 -1.67614201e-03 1.53688164e+01] [ 3.77365860e-03 4.48212430e-05 9.99992879e-01 2.27813266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:59.69, Y:15.38, Z:0.23 [[ 9.01388688e-01 -4.32997693e-01 -3.38082159e-03 5.96912525e+01] [ 4.32994448e-01 9.01395027e-01 -1.67706663e-03 1.53829380e+01] [ 3.77362175e-03 4.78119111e-05 9.99992879e-01 2.25130997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:15.40, Z:0.22 [[ 9.01380798e-01 -4.33014122e-01 -3.38036683e-03 5.97158831e+01] [ 4.33010874e-01 9.01387135e-01 -1.67798275e-03 1.53958343e+01] [ 3.77360940e-03 4.87658325e-05 9.99992879e-01 2.24241781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.300888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:59.74, Y:15.41, Z:0.22 [[ 9.01418066e-01 -4.32936540e-01 -3.37991333e-03 5.97409160e+01] [ 4.32933287e-01 9.01424401e-01 -1.67889573e-03 1.54081064e+01] [ 3.77359166e-03 5.01099556e-05 9.99992879e-01 2.22416256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.330888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:59.77, Y:15.42, Z:0.22 [[ 9.01192025e-01 -4.33406867e-01 -3.37977316e-03 5.97664471e+01] [ 4.33403616e-01 9.01198361e-01 -1.67917787e-03 1.54203536e+01] [ 3.77361325e-03 4.84557914e-05 9.99992879e-01 2.23926260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:15.43, Z:0.23 [[ 9.00944608e-01 -4.33920952e-01 -3.37932308e-03 5.97914192e+01] [ 4.33917702e-01 9.00950945e-01 -1.68008316e-03 1.54323815e+01] [ 3.77362760e-03 4.73137585e-05 9.99992879e-01 2.25317386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:15.45, Z:0.23 [[ 9.00830262e-01 -4.34158290e-01 -3.37918334e-03 5.98169849e+01] [ 4.34155040e-01 9.00836599e-01 -1.68036417e-03 1.54451986e+01] [ 3.77363606e-03 4.66334127e-05 9.99992879e-01 2.25425176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:15.46, Z:0.23 [[ 9.00621572e-01 -4.34591035e-01 -3.37874042e-03 5.98432066e+01] [ 4.34587785e-01 9.00627909e-01 -1.68125429e-03 1.54584519e+01] [ 3.77364596e-03 4.58145730e-05 9.99992879e-01 2.26977768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:59.87, Y:15.47, Z:0.23 [[ 9.00359101e-01 -4.35134550e-01 -3.37836315e-03 5.98682340e+01] [ 4.35131301e-01 9.00365438e-01 -1.68201204e-03 1.54707011e+01] [ 3.77366297e-03 4.43832944e-05 9.99992879e-01 2.28146907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:59.89, Y:15.48, Z:0.23 [[ 8.99912837e-01 -4.36056734e-01 -3.37788909e-03 5.98937595e+01] [ 4.36053488e-01 8.99919176e-01 -1.68296353e-03 1.54827427e+01] [ 3.77369475e-03 4.15801605e-05 9.99992879e-01 2.29033857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:59.92, Y:15.49, Z:0.23 [[ 8.99532827e-01 -4.36840113e-01 -3.37774358e-03 5.99182866e+01] [ 4.36836872e-01 8.99539167e-01 -1.68325552e-03 1.54946081e+01] [ 3.77372618e-03 3.86206509e-05 9.99992879e-01 2.29228008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:59.94, Y:15.51, Z:0.23 [[ 8.99303758e-01 -4.37311496e-01 -3.37742766e-03 5.99433184e+01] [ 4.37308255e-01 8.99310099e-01 -1.68388918e-03 1.55071084e+01] [ 3.77373890e-03 3.73508708e-05 9.99992879e-01 2.28768922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:15.52, Z:0.23 [[ 8.99311408e-01 -4.37295766e-01 -3.37696852e-03 5.99678872e+01] [ 4.37292522e-01 8.99317748e-01 -1.68480946e-03 1.55189830e+01] [ 3.77372777e-03 3.84452866e-05 9.99992879e-01 2.27944720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:59.99, Y:15.53, Z:0.23 [[ 8.99674833e-01 -4.36547583e-01 -3.37676953e-03 5.99935769e+01] [ 4.36544332e-01 8.99681169e-01 -1.68520818e-03 1.55312486e+01] [ 3.77368952e-03 4.20297840e-05 9.99992879e-01 2.27147422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:60.02, Y:15.54, Z:0.23 [[ 8.99974507e-01 -4.35929452e-01 -3.37630620e-03 6.00188581e+01] [ 4.35926194e-01 8.99980839e-01 -1.68613596e-03 1.55438055e+01] [ 3.77364721e-03 4.56590720e-05 9.99992879e-01 2.27117438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.660888479 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:60.04, Y:15.56, Z:0.23 [[ 9.00344918e-01 -4.35163915e-01 -3.37584299e-03 6.00439884e+01] [ 4.35160647e-01 9.00351245e-01 -1.68706285e-03 1.55561568e+01] [ 3.77359331e-03 4.99044442e-05 9.99992879e-01 2.26680972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.690888479 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:60.07, Y:15.57, Z:0.23 [[ 9.00928867e-01 -4.33953666e-01 -3.37538046e-03 6.00694924e+01] [ 4.33950386e-01 9.00935188e-01 -1.68798773e-03 1.55687467e+01] [ 3.77350750e-03 5.60092183e-05 9.99992879e-01 2.26632212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.720888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.09, Y:15.58, Z:0.23 [[ 9.01199297e-01 -4.33391781e-01 -3.37491453e-03 6.00949245e+01] [ 4.33388495e-01 9.01205615e-01 -1.68891880e-03 1.55814253e+01] [ 3.77345545e-03 5.94033100e-05 9.99992879e-01 2.26018377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750888479 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:60.12, Y:15.59, Z:0.23 [[ 9.01224150e-01 -4.33340103e-01 -3.37445006e-03 6.01193780e+01] [ 4.33336813e-01 9.01230465e-01 -1.68984630e-03 1.55938410e+01] [ 3.77343536e-03 6.06568618e-05 9.99992879e-01 2.25275291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.14, Y:15.61, Z:0.23 [[ 9.01827456e-01 -4.32083157e-01 -3.37413252e-03 6.01443532e+01] [ 4.32079856e-01 9.01833765e-01 -1.69048009e-03 1.56053970e+01] [ 3.77333461e-03 6.66266705e-05 9.99992879e-01 2.25874809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:60.17, Y:15.62, Z:0.23 [[ 9.02172148e-01 -4.31362994e-01 -3.37392042e-03 6.01707502e+01] [ 4.31359685e-01 9.02178454e-01 -1.69090330e-03 1.56179396e+01] [ 3.77327142e-03 7.01126067e-05 9.99992879e-01 2.27596927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:15.63, Z:0.23 [[ 9.02543946e-01 -4.30584539e-01 -3.37351406e-03 6.01961563e+01] [ 4.30581222e-01 9.02550247e-01 -1.69171364e-03 1.56298165e+01] [ 3.77319169e-03 7.42740999e-05 9.99992879e-01 2.28667690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:15.64, Z:0.23 [[ 9.02896654e-01 -4.29844454e-01 -3.37305037e-03 6.02209996e+01] [ 4.29841128e-01 9.02902951e-01 -1.69263766e-03 1.56421144e+01] [ 3.77310805e-03 7.84011058e-05 9.99992879e-01 2.28936681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:60.25, Y:15.66, Z:0.23 [[ 9.02625996e-01 -4.30412517e-01 -3.37290611e-03 6.02454692e+01] [ 4.30409195e-01 9.02632295e-01 -1.69292509e-03 1.56551643e+01] [ 3.77315013e-03 7.63483932e-05 9.99992879e-01 2.27902672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:60.27, Y:15.67, Z:0.23 [[ 9.02340221e-01 -4.31011314e-01 -3.37245751e-03 6.02706544e+01] [ 4.31007992e-01 9.02346520e-01 -1.69381826e-03 1.56679399e+01] [ 3.77318014e-03 7.48442018e-05 9.99992879e-01 2.27535811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:15.68, Z:0.23 [[ 9.01954710e-01 -4.31817474e-01 -3.37199962e-03 6.02958344e+01] [ 4.31814154e-01 9.01961010e-01 -1.69472932e-03 1.56804585e+01] [ 3.77322592e-03 7.24919284e-05 9.99992879e-01 2.27272980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:60.32, Y:15.69, Z:0.23 [[ 9.01182331e-01 -4.33427085e-01 -3.37154127e-03 6.03218502e+01] [ 4.33423773e-01 9.01188636e-01 -1.69564069e-03 1.56923584e+01] [ 3.77333128e-03 6.67752923e-05 9.99992879e-01 2.26877024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:15.70, Z:0.23 [[ 9.00845636e-01 -4.34126451e-01 -3.37108455e-03 6.03467049e+01] [ 4.34123141e-01 9.00851941e-01 -1.69654821e-03 1.57042477e+01] [ 3.77336452e-03 6.48622377e-05 9.99992879e-01 2.27052522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.050888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.37, Y:15.72, Z:0.22 [[ 8.98778768e-01 -4.38389511e-01 -3.37088410e-03 6.03659636e+01] [ 4.38386229e-01 8.98785088e-01 -1.69694639e-03 1.57192009e+01] [ 3.77362386e-03 4.74302153e-05 9.99992879e-01 2.23160692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:15.73, Z:0.23 [[ 9.00221666e-01 -4.35419041e-01 -3.34814734e-03 6.03987091e+01] [ 4.35415570e-01 9.00227886e-01 -1.74206163e-03 1.57295929e+01] [ 3.77262241e-03 1.10406144e-04 9.99992878e-01 2.28573866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.42, Y:15.74, Z:0.23 [[ 8.99826896e-01 -4.36234107e-01 -3.37064696e-03 6.04228165e+01] [ 4.36230808e-01 8.99833207e-01 -1.69738208e-03 1.57418768e+01] [ 3.77347602e-03 5.69699946e-05 9.99992879e-01 2.28241515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:15.76, Z:0.23 [[ 8.99441024e-01 -4.37029157e-01 -3.37044406e-03 6.04476926e+01] [ 4.37025863e-01 8.99447337e-01 -1.69778488e-03 1.57553904e+01] [ 3.77351843e-03 5.40861455e-05 9.99992879e-01 2.27716480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:15.77, Z:0.23 [[ 8.99298555e-01 -4.37322251e-01 -3.36997333e-03 6.04722838e+01] [ 4.37318955e-01 8.99304868e-01 -1.69871873e-03 1.57685298e+01] [ 3.77352092e-03 5.39020778e-05 9.99992879e-01 2.27654010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:15.78, Z:0.23 [[ 8.99034985e-01 -4.37863839e-01 -3.36949678e-03 6.04961819e+01] [ 4.37860544e-01 8.99041298e-01 -1.69966346e-03 1.57807301e+01] [ 3.77353793e-03 5.26872221e-05 9.99992879e-01 2.27493088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.52, Y:15.80, Z:0.22 [[ 8.97614797e-01 -4.40767880e-01 -3.36928974e-03 6.05177537e+01] [ 4.40764603e-01 8.97621120e-01 -1.70007378e-03 1.57951375e+01] [ 3.77368355e-03 4.09477302e-05 9.99992879e-01 2.24080218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.55, Y:15.81, Z:0.23 [[ 8.97859756e-01 -4.40268781e-01 -3.35550848e-03 6.05469273e+01] [ 4.40265399e-01 8.97866023e-01 -1.72735794e-03 1.58062384e+01] [ 3.77329883e-03 7.36109017e-05 9.99992878e-01 2.27521522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:15.82, Z:0.23 [[ 8.97015296e-01 -4.41986663e-01 -3.36886756e-03 6.05718160e+01] [ 4.41983392e-01 8.97021621e-01 -1.70089842e-03 1.58189474e+01] [ 3.77372145e-03 3.67483856e-05 9.99992879e-01 2.28342896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.60, Y:15.83, Z:0.23 [[ 8.96227569e-01 -4.43581783e-01 -3.36840439e-03 6.05969655e+01] [ 4.43578520e-01 8.96233898e-01 -1.70181517e-03 1.58317982e+01] [ 3.77377241e-03 3.10618390e-05 9.99992879e-01 2.28406456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:60.62, Y:15.85, Z:0.23 [[ 8.94856355e-01 -4.46341526e-01 -3.36826097e-03 6.06216504e+01] [ 4.46338281e-01 8.94862694e-01 -1.70209899e-03 1.58454925e+01] [ 3.77384854e-03 1.97502849e-05 9.99992879e-01 2.29659264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:15.86, Z:0.23 [[ 8.94108170e-01 -4.47838406e-01 -3.36780154e-03 6.06458084e+01] [ 4.47835168e-01 8.94114513e-01 -1.70300753e-03 1.58589063e+01] [ 3.77387241e-03 1.44529758e-05 9.99992879e-01 2.29391847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.410888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.67, Y:15.87, Z:0.23 [[ 8.93676281e-01 -4.48699640e-01 -3.36734036e-03 6.06705868e+01] [ 4.48696404e-01 8.93682624e-01 -1.70391894e-03 1.58721408e+01] [ 3.77388138e-03 1.18384287e-05 9.99992879e-01 2.29123286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.440888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:60.70, Y:15.88, Z:0.23 [[ 8.93212467e-01 -4.49622233e-01 -3.36687866e-03 6.06952562e+01] [ 4.49619001e-01 8.93218813e-01 -1.70483075e-03 1.58848998e+01] [ 3.77388917e-03 8.96346575e-06 9.99992879e-01 2.29059997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.470888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.72, Y:15.90, Z:0.23 [[ 8.92459412e-01 -4.51115135e-01 -3.36641215e-03 6.07195745e+01] [ 4.51111910e-01 8.92465761e-01 -1.70575143e-03 1.58983857e+01] [ 3.77389787e-03 3.68530380e-06 9.99992879e-01 2.28570678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:60.74, Y:15.91, Z:0.23 [[ 8.92051569e-01 -4.51921087e-01 -3.36594672e-03 6.07439506e+01] [ 4.51917864e-01 8.92057919e-01 -1.70666936e-03 1.59129805e+01] [ 3.77389930e-03 1.30563101e-06 9.99992879e-01 2.28273429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:15.93, Z:0.23 [[ 8.91958065e-01 -4.52105611e-01 -3.36547799e-03 6.07669799e+01] [ 4.52102386e-01 8.91964415e-01 -1.70759319e-03 1.59271053e+01] [ 3.77389906e-03 1.56088546e-06 9.99992879e-01 2.27634783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.79, Y:15.94, Z:0.23 [[ 8.91909357e-01 -4.52201695e-01 -3.36527476e-03 6.07912239e+01] [ 4.52198470e-01 8.91915706e-01 -1.70799360e-03 1.59419339e+01] [ 3.77389902e-03 1.60337922e-06 9.99992879e-01 2.27874804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:15.95, Z:0.23 [[ 8.91753213e-01 -4.52509541e-01 -3.36481461e-03 6.08149038e+01] [ 4.52506314e-01 8.91759561e-01 -1.70889965e-03 1.59548883e+01] [ 3.77389899e-03 1.31689331e-06 9.99992879e-01 2.28715387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:60.84, Y:15.97, Z:0.23 [[ 8.91617370e-01 -4.52777148e-01 -3.36461433e-03 6.08398710e+01] [ 4.52773921e-01 8.91623718e-01 -1.70929388e-03 1.59683333e+01] [ 3.77389915e-03 6.26488815e-07 9.99992879e-01 2.29352461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:15.98, Z:0.23 [[ 8.91543129e-01 -4.52923317e-01 -3.36415296e-03 6.08637326e+01] [ 4.52920088e-01 8.91549476e-01 -1.71020144e-03 1.59817293e+01] [ 3.77389892e-03 1.02588198e-06 9.99992879e-01 2.30140812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:16.00, Z:0.23 [[ 8.91449910e-01 -4.53106767e-01 -3.36395347e-03 6.08879712e+01] [ 4.53103538e-01 8.91456257e-01 -1.71059374e-03 1.59956519e+01] [ 3.77389897e-03 6.89414390e-07 9.99992879e-01 2.29934892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:16.01, Z:0.23 [[ 8.91673509e-01 -4.52666588e-01 -3.36349774e-03 6.09104451e+01] [ 4.52663353e-01 8.91679853e-01 -1.71148937e-03 1.60106052e+01] [ 3.77389722e-03 3.55757079e-06 9.99992879e-01 2.29187944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:16.03, Z:0.23 [[ 8.91742516e-01 -4.52530633e-01 -3.36329969e-03 6.09349617e+01] [ 4.52527395e-01 8.91748858e-01 -1.71187848e-03 1.60251412e+01] [ 3.77389611e-03 4.56957131e-06 9.99992879e-01 2.28870909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:16.04, Z:0.23 [[ 8.92626023e-01 -4.50785397e-01 -3.36284329e-03 6.09647661e+01] [ 4.50782143e-01 8.92632358e-01 -1.71277456e-03 1.60379712e+01] [ 3.77387650e-03 1.29574367e-05 9.99992879e-01 2.28519189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.800888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.98, Y:16.05, Z:0.23 [[ 8.92425119e-01 -4.51182880e-01 -3.37882620e-03 6.09839730e+01] [ 4.51179747e-01 8.92431515e-01 -1.68139142e-03 1.60533262e+01] [ 3.77398600e-03 -2.39420144e-05 9.99992878e-01 2.28843661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:16.07, Z:0.23 [[ 8.92665187e-01 -4.50707843e-01 -3.36212240e-03 6.10080297e+01] [ 4.50704584e-01 8.92671519e-01 -1.71415407e-03 1.60658253e+01] [ 3.77385359e-03 1.48416911e-05 9.99992879e-01 2.29545716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:16.08, Z:0.23 [[ 8.93025248e-01 -4.49994004e-01 -3.36192254e-03 6.10328182e+01] [ 4.49990738e-01 8.93031576e-01 -1.71454595e-03 1.60788934e+01] [ 3.77383838e-03 1.82988145e-05 9.99992879e-01 2.29178207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:16.09, Z:0.23 [[ 8.94223112e-01 -4.47608899e-01 -3.36144614e-03 6.10562499e+01] [ 4.47605612e-01 8.94229430e-01 -1.71547945e-03 1.60938567e+01] [ 3.77376793e-03 2.94192146e-05 9.99992879e-01 2.27071326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.08, Y:16.11, Z:0.23 [[ 8.94970822e-01 -4.46112018e-01 -3.36097074e-03 6.10798101e+01] [ 4.46108717e-01 8.94977132e-01 -1.71641035e-03 1.61075314e+01] [ 3.77370324e-03 3.67788356e-05 9.99992879e-01 2.26716181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:16.12, Z:0.23 [[ 8.95507337e-01 -4.45034060e-01 -3.36076457e-03 6.11046536e+01] [ 4.45030751e-01 8.95513642e-01 -1.71681394e-03 1.61214058e+01] [ 3.77365120e-03 4.17758996e-05 9.99992879e-01 2.26597110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:16.13, Z:0.23 [[ 8.96185834e-01 -4.43666158e-01 -3.36028667e-03 6.11282436e+01] [ 4.43662835e-01 8.96192132e-01 -1.71774881e-03 1.61343844e+01] [ 3.77356949e-03 4.85878418e-05 9.99992879e-01 2.26735312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:16.15, Z:0.23 [[ 8.97045161e-01 -4.41926113e-01 -3.36007853e-03 6.11523723e+01] [ 4.41922776e-01 8.97051452e-01 -1.71815585e-03 1.61494222e+01] [ 3.77346126e-03 5.63681559e-05 9.99992879e-01 2.25126288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:16.16, Z:0.22 [[ 8.97107841e-01 -4.41798862e-01 -3.35960884e-03 6.11766479e+01] [ 4.41795522e-01 8.97114130e-01 -1.71907379e-03 1.61634133e+01] [ 3.77343740e-03 5.79344363e-05 9.99992879e-01 2.24120174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:16.18, Z:0.22 [[ 8.97003177e-01 -4.42011331e-01 -3.35914401e-03 6.12015380e+01] [ 4.42007988e-01 8.97009465e-01 -1.71998159e-03 1.61768492e+01] [ 3.77343533e-03 5.80604638e-05 9.99992879e-01 2.23659457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:16.19, Z:0.22 [[ 8.96752343e-01 -4.42520005e-01 -3.35866570e-03 6.12265807e+01] [ 4.42516662e-01 8.96758631e-01 -1.72091510e-03 1.61905227e+01] [ 3.77345182e-03 5.69691167e-05 9.99992879e-01 2.23294385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:16.20, Z:0.22 [[ 8.95842797e-01 -4.44358421e-01 -3.35818678e-03 6.12519290e+01] [ 4.44355087e-01 8.95849090e-01 -1.72184917e-03 1.62035736e+01] [ 3.77354674e-03 5.02787940e-05 9.99992879e-01 2.24155148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:16.22, Z:0.23 [[ 8.95214083e-01 -4.45623688e-01 -3.35771036e-03 6.12765233e+01] [ 4.45620360e-01 8.95220379e-01 -1.72277771e-03 1.62154282e+01] [ 3.77360130e-03 4.59907703e-05 9.99992879e-01 2.25253591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:16.23, Z:0.23 [[ 8.94520557e-01 -4.47014206e-01 -3.35750388e-03 6.13008833e+01] [ 4.47010887e-01 8.94526857e-01 -1.72318002e-03 1.62275356e+01] [ 3.77366334e-03 4.05791610e-05 9.99992879e-01 2.26145602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:16.24, Z:0.23 [[ 8.93799126e-01 -4.48454960e-01 -3.35719193e-03 6.13259389e+01] [ 4.48451649e-01 8.93805430e-01 -1.72378757e-03 1.62408696e+01] [ 3.77371746e-03 3.51815691e-05 9.99992879e-01 2.26540300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.35, Y:16.25, Z:0.23 [[ 8.93643535e-01 -4.48764934e-01 -3.35672736e-03 6.13504207e+01] [ 4.48761621e-01 8.93649838e-01 -1.72469175e-03 1.62545298e+01] [ 3.77372004e-03 3.48892167e-05 9.99992879e-01 2.26545431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.38, Y:16.27, Z:0.23 [[ 8.93519399e-01 -4.49012047e-01 -3.35625079e-03 6.13758198e+01] [ 4.49008733e-01 8.93525702e-01 -1.72561866e-03 1.62676756e+01] [ 3.77371991e-03 3.48878392e-05 9.99992879e-01 2.26652925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.40, Y:16.28, Z:0.23 [[ 8.93622832e-01 -4.48806165e-01 -3.35577332e-03 6.13999434e+01] [ 4.48802845e-01 8.93629132e-01 -1.72654667e-03 1.62809635e+01] [ 3.77370159e-03 3.68009079e-05 9.99992879e-01 2.26963790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:16.29, Z:0.23 [[ 8.93515220e-01 -4.49020368e-01 -3.35556648e-03 6.14242366e+01] [ 4.49017049e-01 8.93521520e-01 -1.72694858e-03 1.62942248e+01] [ 3.77370595e-03 3.63482847e-05 9.99992879e-01 2.27535388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.45, Y:16.31, Z:0.23 [[ 8.93437254e-01 -4.49175485e-01 -3.35510345e-03 6.14486981e+01] [ 4.49172164e-01 8.93443553e-01 -1.72784769e-03 1.63080788e+01] [ 3.77370237e-03 3.67044254e-05 9.99992879e-01 2.27416703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.47, Y:16.32, Z:0.23 [[ 8.93350887e-01 -4.49347237e-01 -3.35463099e-03 6.14729909e+01] [ 4.49343913e-01 8.93357185e-01 -1.72876449e-03 1.63205932e+01] [ 3.77369924e-03 3.70102786e-05 9.99992879e-01 2.26973913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:61.50, Y:16.33, Z:0.23 [[ 8.92948518e-01 -4.50146302e-01 -3.35442655e-03 6.14977942e+01] [ 4.50142982e-01 8.92954817e-01 -1.72916108e-03 1.63330016e+01] [ 3.77372681e-03 3.40802558e-05 9.99992879e-01 2.26787753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:16.34, Z:0.23 [[ 8.91848208e-01 -4.52322368e-01 -3.35396411e-03 6.15231119e+01] [ 4.52319060e-01 8.91854514e-01 -1.73005759e-03 1.63444397e+01] [ 3.77379178e-03 2.58868732e-05 9.99992879e-01 2.27788636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:16.36, Z:0.23 [[ 8.91342096e-01 -4.53318896e-01 -3.35348708e-03 6.15469515e+01] [ 4.53315592e-01 8.91348404e-01 -1.73098176e-03 1.63567305e+01] [ 3.77381209e-03 2.27089276e-05 9.99992879e-01 2.28229109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:16.37, Z:0.23 [[ 8.90576532e-01 -4.54821060e-01 -3.35327999e-03 6.15712939e+01] [ 4.54817765e-01 8.90582845e-01 -1.73138283e-03 1.63702583e+01] [ 3.77384301e-03 1.67976056e-05 9.99992879e-01 2.28516737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.60, Y:16.38, Z:0.23 [[ 8.89795235e-01 -4.56347672e-01 -3.35280510e-03 6.15956711e+01] [ 4.56344384e-01 8.89801552e-01 -1.73230197e-03 1.63848538e+01] [ 3.77386315e-03 1.13602582e-05 9.99992879e-01 2.27925312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:16.40, Z:0.23 [[ 8.89498939e-01 -4.56924938e-01 -3.35232504e-03 6.16195177e+01] [ 4.56921651e-01 8.89505256e-01 -1.73323047e-03 1.63972743e+01] [ 3.77386697e-03 9.95677685e-06 9.99992879e-01 2.28147359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:16.41, Z:0.23 [[ 8.89081956e-01 -4.57735773e-01 -3.35211649e-03 6.16433305e+01] [ 4.57732490e-01 8.89088276e-01 -1.73363372e-03 1.64096145e+01] [ 3.77387364e-03 6.96982602e-06 9.99992879e-01 2.28103262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.67, Y:16.42, Z:0.23 [[ 8.88689490e-01 -4.58497278e-01 -3.35192034e-03 6.16685463e+01] [ 4.58493999e-01 8.88695812e-01 -1.73401289e-03 1.64224621e+01] [ 3.77387776e-03 4.16366506e-06 9.99992879e-01 2.28608652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.69, Y:16.44, Z:0.23 [[ 8.87797071e-01 -4.60222912e-01 -3.35145590e-03 6.16937799e+01] [ 4.60219642e-01 8.87803397e-01 -1.73491008e-03 1.64352177e+01] [ 3.77387930e-03 -2.15774620e-06 9.99992879e-01 2.29811622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.72, Y:16.45, Z:0.23 [[ 8.87595562e-01 -4.60611431e-01 -3.35097777e-03 6.17176486e+01] [ 4.60608160e-01 8.87601887e-01 -1.73583311e-03 1.64482378e+01] [ 3.77387876e-03 -2.76994002e-06 9.99992879e-01 2.29940987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.74, Y:16.46, Z:0.23 [[ 8.87367268e-01 -4.61051085e-01 -3.35077064e-03 6.17418224e+01] [ 4.61047816e-01 8.87373595e-01 -1.73623284e-03 1.64625569e+01] [ 3.77387742e-03 -4.18929569e-06 9.99992879e-01 2.29347994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.76, Y:16.48, Z:0.23 [[ 8.87927053e-01 -4.59972091e-01 -3.35029289e-03 6.17647912e+01] [ 4.59968810e-01 8.87933373e-01 -1.73715424e-03 1.64780744e+01] [ 3.77387933e-03 1.43601315e-06 9.99992879e-01 2.28104182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.79, Y:16.49, Z:0.23 [[ 8.88245042e-01 -4.59357728e-01 -3.34996800e-03 6.17890591e+01] [ 4.59354441e-01 8.88251360e-01 -1.73778053e-03 1.64914649e+01] [ 3.77387655e-03 4.75225893e-06 9.99992879e-01 2.28166817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:16.50, Z:0.23 [[ 8.88483438e-01 -4.58896461e-01 -3.34948439e-03 6.18125445e+01] [ 4.58893167e-01 8.88489751e-01 -1.73871217e-03 1.65044075e+01] [ 3.77387141e-03 7.76146602e-06 9.99992879e-01 2.29262216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.84, Y:16.52, Z:0.23 [[ 8.89128367e-01 -4.57645638e-01 -3.34915612e-03 6.18363919e+01] [ 4.57642333e-01 8.89134675e-01 -1.73934427e-03 1.65190239e+01] [ 3.77385415e-03 1.37847100e-05 9.99992879e-01 2.30487825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.86, Y:16.53, Z:0.23 [[ 8.89510665e-01 -4.56902138e-01 -3.34866936e-03 6.18594015e+01] [ 4.56898824e-01 8.89516968e-01 -1.74028089e-03 1.65325721e+01] [ 3.77383628e-03 1.79953166e-05 9.99992879e-01 2.30710319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:16.55, Z:0.23 [[ 8.89900181e-01 -4.56143021e-01 -3.34845839e-03 6.18835998e+01] [ 4.56139700e-01 8.89906480e-01 -1.74068672e-03 1.65466368e+01] [ 3.77381692e-03 2.16726226e-05 9.99992879e-01 2.30321470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:16.56, Z:0.23 [[ 8.90331463e-01 -4.55300644e-01 -3.34799216e-03 6.19082497e+01] [ 4.55297314e-01 8.90337758e-01 -1.74158299e-03 1.65608014e+01] [ 3.77378769e-03 2.62542961e-05 9.99992879e-01 2.30718163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:16.58, Z:0.23 [[ 8.90757736e-01 -4.54466116e-01 -3.34751544e-03 6.19309056e+01] [ 4.54462777e-01 8.90764025e-01 -1.74249882e-03 1.65756033e+01] [ 3.77375300e-03 3.08231416e-05 9.99992879e-01 2.30395055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.95, Y:16.59, Z:0.23 [[ 8.90605741e-01 -4.54763906e-01 -3.34719071e-03 6.19545329e+01] [ 4.54760566e-01 8.90612031e-01 -1.74312238e-03 1.65891237e+01] [ 3.77375746e-03 3.02644556e-05 9.99992879e-01 2.30210271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.98, Y:16.60, Z:0.23 [[ 8.90084116e-01 -4.55784011e-01 -3.34698634e-03 6.19790373e+01] [ 4.55780677e-01 8.90090408e-01 -1.74351470e-03 1.66030923e+01] [ 3.77378656e-03 2.63830406e-05 9.99992879e-01 2.30370570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.00, Y:16.62, Z:0.23 [[ 8.88673112e-01 -4.58529062e-01 -3.34649285e-03 6.20022505e+01] [ 4.58525744e-01 8.88679413e-01 -1.74446139e-03 1.66173929e+01] [ 3.77384555e-03 1.58028142e-05 9.99992879e-01 2.29840119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:62.03, Y:16.63, Z:0.23 [[ 8.87545931e-01 -4.60707091e-01 -3.34615749e-03 6.20266278e+01] [ 4.60703786e-01 8.87552238e-01 -1.74510442e-03 1.66320429e+01] [ 3.77387156e-03 7.27290494e-06 9.99992879e-01 2.29304352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:16.65, Z:0.23 [[ 8.86337278e-01 -4.63028117e-01 -3.34568959e-03 6.20507080e+01] [ 4.63024825e-01 8.86343592e-01 -1.74600101e-03 1.66461677e+01] [ 3.77387809e-03 -1.59155234e-06 9.99992879e-01 2.29014608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.07, Y:16.66, Z:0.23 [[ 8.84062611e-01 -4.67356511e-01 -3.34521155e-03 6.20745608e+01] [ 4.67353247e-01 8.84068940e-01 -1.74691643e-03 1.66590894e+01] [ 3.77383040e-03 -1.90119760e-05 9.99992879e-01 2.28182349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.10, Y:16.67, Z:0.23 [[ 8.82706735e-01 -4.69912365e-01 -3.34500443e-03 6.20993703e+01] [ 4.69909117e-01 8.82713073e-01 -1.74731293e-03 1.66726745e+01] [ 3.77376309e-03 -2.94831869e-05 9.99992879e-01 2.28613031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:62.12, Y:16.69, Z:0.23 [[ 8.81549632e-01 -4.72079506e-01 -3.34452568e-03 6.21238024e+01] [ 4.72076270e-01 8.81555976e-01 -1.74822882e-03 1.66864000e+01] [ 3.77368960e-03 -3.77207380e-05 9.99992879e-01 2.28867057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.15, Y:16.70, Z:0.23 [[ 8.80438793e-01 -4.74148024e-01 -3.34404578e-03 6.21480471e+01] [ 4.74144800e-01 8.80445143e-01 -1.74914632e-03 1.67010946e+01] [ 3.77360313e-03 -4.55456439e-05 9.99992879e-01 2.29015256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.17, Y:16.72, Z:0.23 [[ 8.79165428e-01 -4.76504953e-01 -3.34356464e-03 6.21709291e+01] [ 4.76501743e-01 8.79171784e-01 -1.75006555e-03 1.67170880e+01] [ 3.77348259e-03 -5.46172515e-05 9.99992879e-01 2.28457858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.300888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:62.19, Y:16.73, Z:0.23 [[ 8.78768399e-01 -4.77236760e-01 -3.34307837e-03 6.21946677e+01] [ 4.77233551e-01 8.78774756e-01 -1.75099395e-03 1.67311127e+01] [ 3.77345156e-03 -5.67110171e-05 9.99992879e-01 2.28154788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.330888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.22, Y:16.75, Z:0.23 [[ 8.78397091e-01 -4.77919843e-01 -3.34274857e-03 6.22190568e+01] [ 4.77916637e-01 8.78403449e-01 -1.75162334e-03 1.67458335e+01] [ 3.77341742e-03 -5.89343082e-05 9.99992879e-01 2.27955286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:62.24, Y:16.76, Z:0.23 [[ 8.78744751e-01 -4.77280308e-01 -3.34227345e-03 6.22418915e+01] [ 4.77277094e-01 8.78751105e-01 -1.75252945e-03 1.67609324e+01] [ 3.77347428e-03 -5.51645050e-05 9.99992879e-01 2.27592766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390888479 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:62.27, Y:16.78, Z:0.23 [[ 8.79049897e-01 -4.76718060e-01 -3.34206753e-03 6.22657237e+01] [ 4.76714840e-01 8.79056249e-01 -1.75292204e-03 1.67750964e+01] [ 3.77351494e-03 -5.23072469e-05 9.99992879e-01 2.27419988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420888479 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:62.29, Y:16.79, Z:0.23 [[ 8.79581734e-01 -4.75736069e-01 -3.34159982e-03 6.22897882e+01] [ 4.75732838e-01 8.79588080e-01 -1.75381318e-03 1.67890982e+01] [ 3.77358356e-03 -4.70867242e-05 9.99992879e-01 2.27713835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450888479 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:62.31, Y:16.80, Z:0.23 [[ 8.79938825e-01 -4.75075259e-01 -3.34112550e-03 6.23134994e+01] [ 4.75072020e-01 8.79945167e-01 -1.75471633e-03 1.68038597e+01] [ 3.77362955e-03 -4.32322128e-05 9.99992879e-01 2.28039018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480888479 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:62.34, Y:16.82, Z:0.23 [[ 8.80781906e-01 -4.73510374e-01 -3.34064346e-03 6.23373849e+01] [ 4.73507121e-01 8.80788240e-01 -1.75563356e-03 1.68184861e+01] [ 3.77371018e-03 -3.54881988e-05 9.99992879e-01 2.27788082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510888479 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:62.36, Y:16.84, Z:0.23 [[ 8.82708092e-01 -4.69909850e-01 -3.34016101e-03 6.23596278e+01] [ 4.69906567e-01 8.82714412e-01 -1.75655097e-03 1.68356406e+01] [ 3.77382886e-03 -1.90418400e-05 9.99992879e-01 2.27404211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540888479 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:62.38, Y:16.85, Z:0.23 [[ 8.84039167e-01 -4.67400897e-01 -3.33966505e-03 6.23826200e+01] [ 4.67397593e-01 8.84045475e-01 -1.75749342e-03 1.68497452e+01] [ 3.77386977e-03 -7.25838831e-06 9.99992879e-01 2.26911207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570888479 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:62.41, Y:16.86, Z:0.23 [[ 8.85115307e-01 -4.65359798e-01 -3.33945002e-03 6.24065875e+01] [ 4.65356477e-01 8.85121607e-01 -1.75790190e-03 1.68642556e+01] [ 3.77387624e-03 1.91118609e-06 9.99992879e-01 2.27486017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600888479 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:62.43, Y:16.88, Z:0.23 [[ 8.87525294e-01 -4.60746898e-01 -3.33895741e-03 6.24290057e+01] [ 4.60743541e-01 8.87531574e-01 -1.75883705e-03 1.68799053e+01] [ 3.77380885e-03 2.26093088e-05 9.99992879e-01 2.28017525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63088847899999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:62.45, Y:16.89, Z:0.23 [[ 8.88585711e-01 -4.58698471e-01 -3.33862255e-03 6.24525236e+01] [ 4.58695097e-01 8.88591983e-01 -1.75947247e-03 1.68945632e+01] [ 3.77374056e-03 3.20322993e-05 9.99992879e-01 2.28283742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.660888479 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:62.48, Y:16.91, Z:0.23 [[ 8.89285355e-01 -4.57340590e-01 -3.33814703e-03 6.24766016e+01] [ 4.57337203e-01 8.89291619e-01 -1.76037417e-03 1.69098993e+01] [ 3.77367674e-03 3.88161391e-05 9.99992879e-01 2.28417278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.690888479 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:62.50, Y:16.93, Z:0.23 [[ 8.90832462e-01 -4.54319694e-01 -3.33765012e-03 6.24990241e+01] [ 4.54316283e-01 8.90838713e-01 -1.76131582e-03 1.69263612e+01] [ 3.77350840e-03 5.26885113e-05 9.99992879e-01 2.27514857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.720888479 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:62.52, Y:16.94, Z:0.23 [[ 8.91272580e-01 -4.53455676e-01 -3.33743471e-03 6.25219278e+01] [ 4.53452257e-01 8.91278827e-01 -1.76172389e-03 1.69403039e+01] [ 3.77344859e-03 5.68088928e-05 9.99992879e-01 2.26991641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750888479 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:62.55, Y:16.95, Z:0.23 [[ 8.91418763e-01 -4.53168238e-01 -3.33722181e-03 6.25461335e+01] [ 4.53164816e-01 8.91425008e-01 -1.76212709e-03 1.69541484e+01] [ 3.77342301e-03 5.84816430e-05 9.99992879e-01 2.27839156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780888479 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:62.57, Y:16.97, Z:0.23 [[ 8.91428491e-01 -4.53149105e-01 -3.33672827e-03 6.25707931e+01] [ 4.53145679e-01 8.91434734e-01 -1.76306116e-03 1.69679277e+01] [ 3.77340506e-03 5.96189546e-05 9.99992879e-01 2.28527096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810888479 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:62.59, Y:16.98, Z:0.23 [[ 8.91641998e-01 -4.52728856e-01 -3.33623500e-03 6.25934552e+01] [ 4.52725424e-01 8.91648237e-01 -1.76399407e-03 1.69823732e+01] [ 3.77335907e-03 6.24527923e-05 9.99992879e-01 2.29058516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840888479 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:62.62, Y:17.00, Z:0.23 [[ 8.91518667e-01 -4.52971675e-01 -3.33589955e-03 6.26176163e+01] [ 4.52968242e-01 8.91524906e-01 -1.76462821e-03 1.69972412e+01] [ 3.77336413e-03 6.21424282e-05 9.99992879e-01 2.29453846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870888479 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:62.64, Y:17.01, Z:0.23 [[ 8.91511823e-01 -4.52985149e-01 -3.33541578e-03 6.26411335e+01] [ 4.52981713e-01 8.91518060e-01 -1.76554214e-03 1.70109585e+01] [ 3.77334777e-03 6.31193340e-05 9.99992879e-01 2.29587766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900888479 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:62.67, Y:17.02, Z:0.23 [[ 8.90880560e-01 -4.54225389e-01 -3.33520610e-03 6.26652498e+01] [ 4.54221960e-01 8.90886801e-01 -1.76593815e-03 1.70248453e+01] [ 3.77342504e-03 5.83161121e-05 9.99992879e-01 2.30195891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930888479 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:62.69, Y:17.04, Z:0.23 [[ 8.90608884e-01 -4.54757842e-01 -3.33471041e-03 6.26896373e+01] [ 4.54754413e-01 8.90615125e-01 -1.76687369e-03 1.70374118e+01] [ 3.77344320e-03 5.71191311e-05 9.99992879e-01 2.29681451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960888479 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:62.71, Y:17.05, Z:0.23 [[ 8.90262613e-01 -4.55435354e-01 -3.33449584e-03 6.27145309e+01] [ 4.55431928e-01 8.90268856e-01 -1.76727853e-03 1.70505671e+01] [ 3.77347892e-03 5.47061353e-05 9.99992879e-01 2.29349661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990888479 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:62.74, Y:17.06, Z:0.23 [[ 8.89730043e-01 -4.56474900e-01 -3.33402117e-03 6.27384638e+01] [ 4.56471478e-01 8.89736288e-01 -1.76817356e-03 1.70646331e+01] [ 3.77352647e-03 5.13115667e-05 9.99992879e-01 2.27837284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02088847899999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:62.76, Y:17.08, Z:0.23 [[ 8.89515022e-01 -4.56893766e-01 -3.33353323e-03 6.27628973e+01] [ 4.56890344e-01 8.89521267e-01 -1.76909299e-03 1.70787676e+01] [ 3.77353626e-03 5.05756467e-05 9.99992879e-01 2.27074959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.050888479 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:62.79, Y:17.09, Z:0.23 [[ 8.89462439e-01 -4.56996127e-01 -3.33304310e-03 6.27877058e+01] [ 4.56992702e-01 8.89468682e-01 -1.77001593e-03 1.70926495e+01] [ 3.77352789e-03 5.11863141e-05 9.99992879e-01 2.26387112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.080888479 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:62.81, Y:17.11, Z:0.23 [[ 8.89389237e-01 -4.57138578e-01 -3.33255430e-03 6.28127694e+01] [ 4.57135151e-01 8.89395479e-01 -1.77093576e-03 1.71056011e+01] [ 3.77352179e-03 5.16234885e-05 9.99992879e-01 2.27235181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110888479 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:62.84, Y:17.12, Z:0.23 [[ 8.89403905e-01 -4.57110043e-01 -3.33206472e-03 6.28383056e+01] [ 4.57106612e-01 8.89410145e-01 -1.77185644e-03 1.71180027e+01] [ 3.77350554e-03 5.27872203e-05 9.99992879e-01 2.28762691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140888479 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:62.86, Y:17.13, Z:0.23 [[ 8.89396429e-01 -4.57124592e-01 -3.33156700e-03 6.28621024e+01] [ 4.57121158e-01 8.89402667e-01 -1.77279180e-03 1.71299796e+01] [ 3.77349130e-03 5.37849272e-05 9.99992879e-01 2.29575242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170888479 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:62.89, Y:17.14, Z:0.23 [[ 8.89599113e-01 -4.56730029e-01 -3.33135115e-03 6.28866797e+01] [ 4.56726590e-01 8.89605349e-01 -1.77319733e-03 1.71429998e+01] [ 3.77346027e-03 5.59181241e-05 9.99992879e-01 2.29989579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200888479 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:62.91, Y:17.16, Z:0.23 [[ 8.89474585e-01 -4.56972502e-01 -3.33086807e-03 6.29118645e+01] [ 4.56969062e-01 8.89480820e-01 -1.77410430e-03 1.71565078e+01] [ 3.77346014e-03 5.59170298e-05 9.99992879e-01 2.30097072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230888479 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:62.94, Y:17.17, Z:0.23 [[ 8.90273733e-01 -4.55413646e-01 -3.33038424e-03 6.29355623e+01] [ 4.55410192e-01 8.90279960e-01 -1.77501210e-03 1.71710791e+01] [ 3.77333908e-03 6.35557272e-05 9.99992879e-01 2.29485276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260888479 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:62.96, Y:17.18, Z:0.23 [[ 8.90912267e-01 -4.54163235e-01 -3.32989727e-03 6.29591733e+01] [ 4.54159768e-01 8.90918488e-01 -1.77592518e-03 1.71844419e+01] [ 3.77322696e-03 6.98881581e-05 9.99992879e-01 2.28828491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290888479 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:62.98, Y:17.20, Z:0.23 [[ 8.91399497e-01 -4.53206190e-01 -3.32968627e-03 6.29839667e+01] [ 4.53202715e-01 8.91405712e-01 -1.77632069e-03 1.71978632e+01] [ 3.77314089e-03 7.43885132e-05 9.99992879e-01 2.28714872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320888479 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:63.01, Y:17.21, Z:0.23 [[ 8.92912265e-01 -4.50218395e-01 -3.32920360e-03 6.30103384e+01] [ 4.50214896e-01 8.92918467e-01 -1.77722486e-03 1.72090320e+01] [ 3.77284670e-03 8.80488177e-05 9.99992879e-01 2.30226144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350888479 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:63.03, Y:17.22, Z:0.23 [[ 8.93533035e-01 -4.48985117e-01 -3.32872006e-03 6.30343320e+01] [ 4.48981606e-01 8.93539230e-01 -1.77813006e-03 1.72214551e+01] [ 3.77269589e-03 9.42838748e-05 9.99992879e-01 2.31100277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38088847899999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:63.06, Y:17.24, Z:0.23 [[ 8.93983407e-01 -4.48087703e-01 -3.32851051e-03 6.30588460e+01] [ 4.48084185e-01 8.93989598e-01 -1.77852223e-03 1.72351224e+01] [ 3.77258771e-03 9.85164410e-05 9.99992879e-01 2.31128522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.410888479 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:63.08, Y:17.25, Z:0.23 [[ 8.94744805e-01 -4.46565403e-01 -3.32802293e-03 6.30821289e+01] [ 4.46561870e-01 8.94750988e-01 -1.77943413e-03 1.72498980e+01] [ 3.77238553e-03 1.05971301e-04 9.99992879e-01 2.29584405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.440888479 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:63.11, Y:17.26, Z:0.23 [[ 8.94938237e-01 -4.46177630e-01 -3.32781188e-03 6.31064962e+01] [ 4.46174093e-01 8.94944418e-01 -1.77982875e-03 1.72630124e+01] [ 3.77232644e-03 1.08053360e-04 9.99992879e-01 2.28704523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.470888479 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:63.13, Y:17.28, Z:0.23 [[ 8.95220327e-01 -4.45611373e-01 -3.32733160e-03 6.31312067e+01] [ 4.45607829e-01 8.95226503e-01 -1.78072616e-03 1.72751249e+01] [ 3.77222726e-03 1.11457249e-04 9.99992879e-01 2.28147021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500888479 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:63.16, Y:17.29, Z:0.23 [[ 8.95382885e-01 -4.45284650e-01 -3.32712362e-03 6.31569914e+01] [ 4.45281102e-01 8.95389059e-01 -1.78111467e-03 1.72870986e+01] [ 3.77217311e-03 1.13274316e-04 9.99992879e-01 2.28388977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530888479 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:63.18, Y:17.30, Z:0.23 [[ 8.95526444e-01 -4.44995867e-01 -3.32664938e-03 6.31826140e+01] [ 4.44992314e-01 8.95532615e-01 -1.78199998e-03 1.72986729e+01] [ 3.77210565e-03 1.15494698e-04 9.99992879e-01 2.28688437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560888479 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:63.21, Y:17.31, Z:0.23 [[ 8.95482230e-01 -4.45084835e-01 -3.32650249e-03 6.32072556e+01] [ 4.45081281e-01 8.95488401e-01 -1.78227414e-03 1.73126341e+01] [ 3.77210759e-03 1.15430833e-04 9.99992879e-01 2.28256711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590888479 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:63.23, Y:17.33, Z:0.23 [[ 8.95284076e-01 -4.45483288e-01 -3.32603555e-03 6.32315856e+01] [ 4.45479735e-01 8.95290247e-01 -1.78314511e-03 1.73263656e+01] [ 3.77212854e-03 1.14739985e-04 9.99992879e-01 2.28023310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620888479 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:63.26, Y:17.34, Z:0.23 [[ 8.94710452e-01 -4.46634244e-01 -3.32556881e-03 6.32566053e+01] [ 4.46630694e-01 8.94716626e-01 -1.78401515e-03 1.73384874e+01] [ 3.77224396e-03 1.10875895e-04 9.99992879e-01 2.29016089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650888479 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:63.28, Y:17.35, Z:0.23 [[ 8.94179933e-01 -4.47695420e-01 -3.32534950e-03 6.32822097e+01] [ 4.47691877e-01 8.94186110e-01 -1.78442384e-03 1.73507848e+01] [ 3.77235972e-03 1.06864032e-04 9.99992879e-01 2.30565498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680888479 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:63.31, Y:17.36, Z:0.23 [[ 8.93455090e-01 -4.49140232e-01 -3.32488877e-03 6.33076057e+01] [ 4.49136695e-01 8.93461271e-01 -1.78528192e-03 1.73632048e+01] [ 3.77250127e-03 1.01739664e-04 9.99992879e-01 2.31717670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710888479 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:63.33, Y:17.38, Z:0.23 [[ 8.92572328e-01 -4.50891991e-01 -3.32440640e-03 6.33327648e+01] [ 4.50888463e-01 8.92578514e-01 -1.78617970e-03 1.73760401e+01] [ 3.77266784e-03 9.53580787e-05 9.99992879e-01 2.31812275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740888479 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:63.36, Y:17.39, Z:0.23 [[ 8.90907779e-01 -4.54172084e-01 -3.32391800e-03 6.33578564e+01] [ 4.54168575e-01 8.90913975e-01 -1.78708810e-03 1.73888715e+01] [ 3.77297052e-03 8.25115880e-05 9.99992879e-01 2.30838041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77088847899999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:63.38, Y:17.40, Z:0.23 [[ 8.89884533e-01 -4.56173731e-01 -3.32340709e-03 6.33814090e+01] [ 4.56170233e-01 8.89890736e-01 -1.78803771e-03 1.74012192e+01] [ 3.77312502e-03 7.51077154e-05 9.99992879e-01 2.29579198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.800888479 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:63.41, Y:17.41, Z:0.23 [[ 8.88865962e-01 -4.58155278e-01 -3.32306042e-03 6.34062373e+01] [ 4.58151791e-01 8.88872171e-01 -1.78868177e-03 1.74136331e+01] [ 3.77326992e-03 6.74322605e-05 9.99992879e-01 2.28504956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.830888479 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:63.43, Y:17.43, Z:0.23 [[ 8.86936005e-01 -4.61880375e-01 -3.32290779e-03 6.34324039e+01] [ 4.61876914e-01 8.86942228e-01 -1.78896528e-03 1.74253996e+01] [ 3.77351519e-03 5.19233237e-05 9.99992879e-01 2.28235396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860888479 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:63.46, Y:17.44, Z:0.23 [[ 8.86012557e-01 -4.63649340e-01 -3.32247427e-03 6.34577202e+01] [ 4.63645888e-01 8.86018785e-01 -1.78977004e-03 1.74381550e+01] [ 3.77360032e-03 4.53071991e-05 9.99992879e-01 2.28998022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890888479 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:63.48, Y:17.45, Z:0.23 [[ 8.85129337e-01 -4.65333236e-01 -3.32197109e-03 6.34818060e+01] [ 4.65329792e-01 8.85135570e-01 -1.79070350e-03 1.74501826e+01] [ 3.77366863e-03 3.91920792e-05 9.99992879e-01 2.29113322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920888479 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:63.51, Y:17.46, Z:0.23 [[ 8.84346985e-01 -4.66818355e-01 -3.32175335e-03 6.35063508e+01] [ 4.66814920e-01 8.84353222e-01 -1.79110733e-03 1.74626783e+01] [ 3.77372505e-03 3.33163402e-05 9.99992879e-01 2.28922245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950888479 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:63.53, Y:17.47, Z:0.23 [[ 8.82400177e-01 -4.70487934e-01 -3.32153933e-03 6.35317624e+01] [ 4.70484523e-01 8.82406428e-01 -1.79150413e-03 1.74747699e+01] [ 3.77382873e-03 1.80907094e-05 9.99992879e-01 2.29285259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980888479 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:63.56, Y:17.49, Z:0.23 [[ 8.81687608e-01 -4.71821929e-01 -3.32103609e-03 6.35562505e+01] [ 4.71818524e-01 8.81693863e-01 -1.79243652e-03 1.74869795e+01] [ 3.77384800e-03 1.34427218e-05 9.99992879e-01 2.28676633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010888479 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:63.58, Y:17.50, Z:0.23 [[ 8.80845394e-01 -4.73392400e-01 -3.32081822e-03 6.35813704e+01] [ 4.73389006e-01 8.80851653e-01 -1.79284007e-03 1.74999585e+01] [ 3.77386509e-03 7.17608408e-06 9.99992879e-01 2.29289283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040888479 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:63.61, Y:17.51, Z:0.23 [[ 8.80119431e-01 -4.74740732e-01 -3.32032531e-03 6.36065131e+01] [ 4.74737343e-01 8.80125694e-01 -1.79375248e-03 1.75130091e+01] [ 3.77387099e-03 2.43399086e-06 9.99992879e-01 2.29719297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070888479 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:63.63, Y:17.53, Z:0.23 [[ 8.79394680e-01 -4.76081900e-01 -3.31982943e-03 6.36313001e+01] [ 4.76078517e-01 8.79400946e-01 -1.79466978e-03 1.75258278e+01] [ 3.77387094e-03 -2.27641583e-06 9.99992879e-01 2.30303380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100888479 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:63.66, Y:17.54, Z:0.23 [[ 8.79207969e-01 -4.76426625e-01 -3.31933317e-03 6.36556695e+01] [ 4.76423241e-01 8.79214235e-01 -1.79558716e-03 1.75389580e+01] [ 3.77387051e-03 -2.71292300e-06 9.99992879e-01 2.30332188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13088847899999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:63.68, Y:17.55, Z:0.23 [[ 8.79456651e-01 -4.75967419e-01 -3.31883844e-03 6.36799430e+01] [ 4.75964028e-01 8.79462914e-01 -1.79650112e-03 1.75516733e+01] [ 3.77387133e-03 2.97141979e-07 9.99992879e-01 2.30253813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.160888479 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:63.70, Y:17.56, Z:0.23 [[ 8.79725404e-01 -4.75470504e-01 -3.31862408e-03 6.37046740e+01] [ 4.75467108e-01 8.79731664e-01 -1.79689701e-03 1.75647511e+01] [ 3.77387021e-03 2.87935452e-06 9.99992879e-01 2.31185672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.190888479 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:63.73, Y:17.58, Z:0.23 [[ 8.80890515e-01 -4.73308452e-01 -3.31813404e-03 6.37287674e+01] [ 4.73305037e-01 8.80896764e-01 -1.79780148e-03 1.75782627e+01] [ 3.77384817e-03 1.31767141e-05 9.99992879e-01 2.31800164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.220888479 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:63.75, Y:17.59, Z:0.23 [[ 8.81524606e-01 -4.72126427e-01 -3.31764362e-03 6.37532560e+01] [ 4.72123001e-01 8.81530849e-01 -1.79870602e-03 1.75928791e+01] [ 3.77382185e-03 1.92677528e-05 9.99992879e-01 2.32421657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250888479 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:63.77, Y:17.61, Z:0.23 [[ 8.80472801e-01 -4.74085060e-01 -3.31713427e-03 6.37719726e+01] [ 4.74081644e-01 8.80479049e-01 -1.79964487e-03 1.76096047e+01] [ 3.77385197e-03 1.19458950e-05 9.99992879e-01 2.27764417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:63.80, Y:17.62, Z:0.23 [[ 8.84111852e-01 -4.67263689e-01 -3.29813189e-03 6.38014451e+01] [ 4.67260094e-01 8.84118000e-01 -1.83462611e-03 1.76211397e+01] [ 3.77319193e-03 8.09292691e-05 9.99992878e-01 2.32456568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310888479 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:63.83, Y:17.63, Z:0.23 [[ 8.84794956e-01 -4.65968759e-01 -3.31667676e-03 6.38264322e+01] [ 4.65965283e-01 8.84801171e-01 -1.80046418e-03 1.76348629e+01] [ 3.77355954e-03 4.75853988e-05 9.99992879e-01 2.32791071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:63.85, Y:17.65, Z:0.23 [[ 8.86174358e-01 -4.63340059e-01 -3.31616797e-03 6.38492275e+01] [ 4.63336561e-01 8.86180561e-01 -1.80140080e-03 1.76485679e+01] [ 3.77338474e-03 5.98533323e-05 9.99992879e-01 2.31674082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:63.87, Y:17.66, Z:0.23 [[ 8.86779644e-01 -4.62180557e-01 -3.31594784e-03 6.38738852e+01] [ 4.62177050e-01 8.86785841e-01 -1.80180591e-03 1.76627270e+01] [ 3.77329526e-03 6.52498087e-05 9.99992879e-01 2.31871548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400888479 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:63.90, Y:17.68, Z:0.23 [[ 8.87478579e-01 -4.60837043e-01 -3.31543799e-03 6.38975223e+01] [ 4.60833523e-01 8.87484768e-01 -1.80274358e-03 1.76765312e+01] [ 3.77317174e-03 7.20313425e-05 9.99992879e-01 2.31095388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:63.92, Y:17.69, Z:0.23 [[ 8.88063592e-01 -4.59708675e-01 -3.31521702e-03 6.39215977e+01] [ 4.59705145e-01 8.88069777e-01 -1.80314985e-03 1.76905485e+01] [ 3.77306767e-03 7.72894141e-05 9.99992879e-01 2.31261884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460888479 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:63.95, Y:17.70, Z:0.23 [[ 8.88945819e-01 -4.58000375e-01 -3.31472128e-03 6.39450096e+01] [ 4.57996830e-01 8.88951995e-01 -1.80406072e-03 1.77035392e+01] [ 3.77288857e-03 8.55803950e-05 9.99992879e-01 2.31049937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490888479 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:63.97, Y:17.72, Z:0.23 [[ 8.89525033e-01 -4.56874414e-01 -3.31450627e-03 6.39677045e+01] [ 4.56870859e-01 8.89531203e-01 -1.80445564e-03 1.77179906e+01] [ 3.77276637e-03 9.08071382e-05 9.99992879e-01 2.28348875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52088847899999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:63.99, Y:17.73, Z:0.23 [[ 8.91001431e-01 -4.53988443e-01 -3.30813923e-03 6.39949616e+01] [ 4.53984826e-01 8.91007564e-01 -1.81614154e-03 1.77301122e+01] [ 3.77208434e-03 1.16339697e-04 9.99992879e-01 2.32039955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.550888479 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:64.02, Y:17.74, Z:0.23 [[ 8.91318564e-01 -4.53365457e-01 -3.31363631e-03 6.40183765e+01] [ 4.53361872e-01 8.91324717e-01 -1.80605584e-03 1.77429784e+01] [ 3.77232928e-03 1.07494742e-04 9.99992879e-01 2.30743849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.580888479 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:64.04, Y:17.76, Z:0.23 [[ 8.92107410e-01 -4.51811232e-01 -3.31341622e-03 6.40429001e+01] [ 4.51807636e-01 8.92113556e-01 -1.80645953e-03 1.77562306e+01] [ 3.77212223e-03 1.14529184e-04 9.99992879e-01 2.30735943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610888479 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:64.07, Y:17.77, Z:0.23 [[ 8.92148414e-01 -4.51730264e-01 -3.31291027e-03 6.40666479e+01] [ 4.51726663e-01 8.92154558e-01 -1.80738693e-03 1.77693719e+01] [ 3.77207937e-03 1.15927481e-04 9.99992879e-01 2.29641361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:64.09, Y:17.78, Z:0.23 [[ 8.92344766e-01 -4.51342270e-01 -3.31269098e-03 6.40920251e+01] [ 4.51338665e-01 8.92350907e-01 -1.80778876e-03 1.77824955e+01] [ 3.77201429e-03 1.18025311e-04 9.99992879e-01 2.30555762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:64.12, Y:17.80, Z:0.23 [[ 8.92355907e-01 -4.51320247e-01 -3.31218491e-03 6.41175609e+01] [ 4.51316638e-01 8.92362046e-01 -1.80871550e-03 1.77952630e+01] [ 3.77197803e-03 1.19173803e-04 9.99992879e-01 2.30872588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700888479 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:64.14, Y:17.81, Z:0.23 [[ 8.92299835e-01 -4.51431098e-01 -3.31167888e-03 6.41440664e+01] [ 4.51427487e-01 8.92305973e-01 -1.80964155e-03 1.78062073e+01] [ 3.77195931e-03 1.19759980e-04 9.99992879e-01 2.32201725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730888479 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:64.17, Y:17.82, Z:0.23 [[ 8.92303766e-01 -4.51423333e-01 -3.31116586e-03 6.41681009e+01] [ 4.51419719e-01 8.92309901e-01 -1.81057975e-03 1.78179119e+01] [ 3.77192403e-03 1.20861565e-04 9.99992879e-01 2.31123947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760888479 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:64.19, Y:17.83, Z:0.23 [[ 8.92352136e-01 -4.51327711e-01 -3.31094363e-03 6.41929650e+01] [ 4.51324094e-01 8.92358270e-01 -1.81098604e-03 1.78303342e+01] [ 3.77189612e-03 1.21728624e-04 9.99992879e-01 2.30627026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:64.22, Y:17.84, Z:0.23 [[ 8.92001440e-01 -4.52020433e-01 -3.31046217e-03 6.42187927e+01] [ 4.52016817e-01 8.92007575e-01 -1.81186572e-03 1.78420129e+01] [ 3.77195766e-03 1.19802256e-04 9.99992879e-01 2.31405851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820888479 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:64.24, Y:17.85, Z:0.23 [[ 8.91760124e-01 -4.52496326e-01 -3.30995832e-03 6.42441852e+01] [ 4.52492711e-01 8.91766259e-01 -1.81278569e-03 1.78537853e+01] [ 3.77198802e-03 1.18837983e-04 9.99992879e-01 2.32689890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:64.27, Y:17.87, Z:0.23 [[ 8.91503558e-01 -4.53001604e-01 -3.30944911e-03 6.42692640e+01] [ 4.52997989e-01 8.91509693e-01 -1.81371484e-03 1.78653287e+01] [ 3.77202169e-03 1.17759441e-04 9.99992879e-01 2.33714384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88088847899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:64.30, Y:17.88, Z:0.24 [[ 8.91083808e-01 -4.53826725e-01 -3.30929126e-03 6.42960310e+01] [ 4.53823114e-01 8.91089945e-01 -1.81400281e-03 1.78758434e+01] [ 3.77211912e-03 1.14595673e-04 9.99992879e-01 2.35518996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.910888479 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:64.32, Y:17.89, Z:0.24 [[ 8.90981588e-01 -4.54027380e-01 -3.30878442e-03 6.43205068e+01] [ 4.54023767e-01 8.90987724e-01 -1.81492682e-03 1.78877671e+01] [ 3.77211277e-03 1.14799607e-04 9.99992879e-01 2.35033860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.940888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:64.35, Y:17.90, Z:0.24 [[ 8.90795163e-01 -4.54393037e-01 -3.30843930e-03 6.43458405e+01] [ 4.54389424e-01 8.90801299e-01 -1.81555573e-03 1.79003787e+01] [ 3.77213791e-03 1.13968436e-04 9.99992879e-01 2.36070577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.970888479 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:64.37, Y:17.91, Z:0.24 [[ 8.90847553e-01 -4.54290321e-01 -3.30793775e-03 6.43704651e+01] [ 4.54286704e-01 8.90853687e-01 -1.81646908e-03 1.79108586e+01] [ 3.77209287e-03 1.15444899e-04 9.99992879e-01 2.36093417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000888479 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:64.40, Y:17.92, Z:0.24 [[ 8.90758515e-01 -4.54464879e-01 -3.30772071e-03 6.43955490e+01] [ 4.54461262e-01 8.90764649e-01 -1.81686423e-03 1.79229554e+01] [ 3.77210166e-03 1.15156359e-04 9.99992879e-01 2.36252137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:64.42, Y:17.93, Z:0.24 [[ 8.90583444e-01 -4.54807862e-01 -3.30720507e-03 6.44208533e+01] [ 4.54804244e-01 8.90589577e-01 -1.81780234e-03 1.79349022e+01] [ 3.77211317e-03 1.14773770e-04 9.99992879e-01 2.36340700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.45, Y:17.94, Z:0.24 [[ 8.90607475e-01 -4.54760806e-01 -3.30668649e-03 6.44462270e+01] [ 4.54757184e-01 8.90613606e-01 -1.81874519e-03 1.79444702e+01] [ 3.77207401e-03 1.16048619e-04 9.99992879e-01 2.36188181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.47, Y:17.96, Z:0.24 [[ 8.90478793e-01 -4.55012733e-01 -3.30646124e-03 6.44712441e+01] [ 4.55009111e-01 8.90484924e-01 -1.81915460e-03 1.79583171e+01] [ 3.77209239e-03 1.15448597e-04 9.99992879e-01 2.36295906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:64.50, Y:17.97, Z:0.24 [[ 8.90359190e-01 -4.55246729e-01 -3.30594636e-03 6.44958708e+01] [ 4.55243105e-01 8.90365320e-01 -1.82008982e-03 1.79693838e+01] [ 3.77208992e-03 1.15524413e-04 9.99992879e-01 2.35881968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.52, Y:17.98, Z:0.24 [[ 8.90221042e-01 -4.55516814e-01 -3.30572335e-03 6.45208024e+01] [ 4.55513191e-01 8.90227173e-01 -1.82049476e-03 1.79806863e+01] [ 3.77211072e-03 1.14842151e-04 9.99992879e-01 2.35493178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.55, Y:17.99, Z:0.24 [[ 8.89913293e-01 -4.56117754e-01 -3.30550488e-03 6.45465898e+01] [ 4.56114133e-01 8.89919424e-01 -1.82089135e-03 1.79923837e+01] [ 3.77217387e-03 1.12747926e-04 9.99992879e-01 2.35943893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.57, Y:18.00, Z:0.24 [[ 8.89656016e-01 -4.56619371e-01 -3.30499803e-03 6.45733591e+01] [ 4.56615750e-01 8.89662148e-01 -1.82181084e-03 1.80021621e+01] [ 3.77220577e-03 1.11670823e-04 9.99992879e-01 2.36295037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:64.60, Y:18.01, Z:0.24 [[ 8.89659335e-01 -4.56612908e-01 -3.30449452e-03 6.45982070e+01] [ 4.56609283e-01 8.89665465e-01 -1.82272369e-03 1.80133769e+01] [ 3.77217381e-03 1.12740271e-04 9.99992879e-01 2.36141359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.62, Y:18.02, Z:0.24 [[ 8.89720169e-01 -4.56494362e-01 -3.30427598e-03 6.46236238e+01] [ 4.56490735e-01 8.89726298e-01 -1.82311978e-03 1.80246922e+01] [ 3.77214513e-03 1.13695065e-04 9.99992879e-01 2.36810710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.300888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:64.65, Y:18.04, Z:0.24 [[ 8.89743113e-01 -4.56449645e-01 -3.30376795e-03 6.46496471e+01] [ 4.56446015e-01 8.89749239e-01 -1.82403992e-03 1.80366499e+01] [ 3.77210740e-03 1.14935241e-04 9.99992879e-01 2.37590780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.330888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:64.68, Y:18.05, Z:0.24 [[ 8.90091686e-01 -4.55769546e-01 -3.30325515e-03 6.46756412e+01] [ 4.55765908e-01 8.90097807e-01 -1.82496812e-03 1.80476526e+01] [ 3.77198506e-03 1.18877864e-04 9.99992879e-01 2.37302559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:64.70, Y:18.06, Z:0.24 [[ 8.90179817e-01 -4.55597391e-01 -3.30309638e-03 6.47007428e+01] [ 4.55593750e-01 8.90185938e-01 -1.82525543e-03 1.80597046e+01] [ 3.77195156e-03 1.19935482e-04 9.99992879e-01 2.37744313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.73, Y:18.07, Z:0.24 [[ 8.90123608e-01 -4.55707204e-01 -3.30258405e-03 6.47255400e+01] [ 4.55703560e-01 8.90129727e-01 -1.82618197e-03 1.80714397e+01] [ 3.77193251e-03 1.20528372e-04 9.99992879e-01 2.37698381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.75, Y:18.08, Z:0.24 [[ 8.90074343e-01 -4.55803421e-01 -3.30236267e-03 6.47510848e+01] [ 4.55799777e-01 8.90080461e-01 -1.82658222e-03 1.80830403e+01] [ 3.77193091e-03 1.20577797e-04 9.99992879e-01 2.38378771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:64.78, Y:18.09, Z:0.24 [[ 8.89758061e-01 -4.56420520e-01 -3.30185300e-03 6.47763662e+01] [ 4.56416877e-01 8.89764179e-01 -1.82750305e-03 1.80930631e+01] [ 3.77198042e-03 1.19014139e-04 9.99992879e-01 2.35716158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:18.11, Z:0.24 [[ 8.90452156e-01 -4.55064937e-01 -3.29556548e-03 6.48023687e+01] [ 4.55061242e-01 8.90458244e-01 -1.83885325e-03 1.81055044e+01] [ 3.77136109e-03 1.37726719e-04 9.99992879e-01 2.37773169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:64.83, Y:18.12, Z:0.24 [[ 8.90600858e-01 -4.54773806e-01 -3.30121645e-03 6.48267382e+01] [ 4.54770147e-01 8.90606967e-01 -1.82865169e-03 1.81175864e+01] [ 3.77170926e-03 1.27304074e-04 9.99992879e-01 2.36989143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:64.85, Y:18.13, Z:0.24 [[ 8.90880780e-01 -4.54225208e-01 -3.30099614e-03 6.48525675e+01] [ 4.54221544e-01 8.90886886e-01 -1.82904931e-03 1.81292162e+01] [ 3.77161447e-03 1.30081310e-04 9.99992879e-01 2.37990652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:18.14, Z:0.24 [[ 8.90836187e-01 -4.54312662e-01 -3.30047928e-03 6.48768461e+01] [ 4.54308996e-01 8.90842291e-01 -1.82998150e-03 1.81417704e+01] [ 3.77159029e-03 1.30776310e-04 9.99992879e-01 2.37457132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.90, Y:18.15, Z:0.24 [[ 8.90554177e-01 -4.54865217e-01 -3.30025462e-03 6.49014113e+01] [ 4.54861553e-01 8.90560283e-01 -1.83038657e-03 1.81545961e+01] [ 3.77165487e-03 1.28899465e-04 9.99992879e-01 2.37581688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:18.17, Z:0.24 [[ 8.90162745e-01 -4.55630771e-01 -3.29973232e-03 6.49266596e+01] [ 4.55627108e-01 8.90168852e-01 -1.83132766e-03 1.81661423e+01] [ 3.77172816e-03 1.26732163e-04 9.99992879e-01 2.36824919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:18.18, Z:0.24 [[ 8.89805832e-01 -4.56327397e-01 -3.29957107e-03 6.49516918e+01] [ 4.56323738e-01 8.89811941e-01 -1.83161815e-03 1.81782009e+01] [ 3.77181528e-03 1.24111908e-04 9.99992879e-01 2.37294444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.690888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:64.98, Y:18.19, Z:0.24 [[ 8.89373833e-01 -4.57168789e-01 -3.29907078e-03 6.49771199e+01] [ 4.57165132e-01 8.89379943e-01 -1.83251880e-03 1.81903265e+01] [ 3.77189779e-03 1.21574139e-04 9.99992879e-01 2.37478748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:18.20, Z:0.24 [[ 8.87555328e-01 -4.60689330e-01 -3.29856138e-03 6.50011023e+01] [ 4.60685694e-01 8.87561451e-01 -1.83343529e-03 1.82022586e+01] [ 3.77232000e-03 1.07675219e-04 9.99992879e-01 2.35897698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:65.03, Y:18.22, Z:0.24 [[ 8.87196411e-01 -4.61380202e-01 -3.29205705e-03 6.50264221e+01] [ 4.61376527e-01 8.87202511e-01 -1.84512807e-03 1.82159490e+01] [ 3.77202684e-03 1.18113154e-04 9.99992879e-01 2.35152151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:18.23, Z:0.24 [[ 8.86299113e-01 -4.63101507e-01 -3.29795904e-03 6.50505923e+01] [ 4.63097884e-01 8.86305243e-01 -1.83451791e-03 1.82287817e+01] [ 3.77256640e-03 9.86537413e-05 9.99992879e-01 2.36021856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:65.08, Y:18.24, Z:0.24 [[ 8.85826522e-01 -4.64004889e-01 -3.29182383e-03 6.50768764e+01] [ 4.64001231e-01 8.85832632e-01 -1.84553712e-03 1.82410561e+01] [ 3.77234321e-03 1.07415418e-04 9.99992879e-01 2.36131198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:65.10, Y:18.25, Z:0.24 [[ 8.85453098e-01 -4.64717053e-01 -3.29730341e-03 6.51022487e+01] [ 4.64713436e-01 8.85459232e-01 -1.83569461e-03 1.82539965e+01] [ 3.77270634e-03 9.31202801e-05 9.99992879e-01 2.37183155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:65.13, Y:18.27, Z:0.24 [[ 8.85148333e-01 -4.65297280e-01 -3.29681312e-03 6.51274308e+01] [ 4.65293665e-01 8.85154468e-01 -1.83657472e-03 1.82674700e+01] [ 3.77274209e-03 9.16547935e-05 9.99992879e-01 2.37249019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:18.28, Z:0.24 [[ 8.84816868e-01 -4.65927295e-01 -3.29632037e-03 6.51518989e+01] [ 4.65923680e-01 8.84823004e-01 -1.83745870e-03 1.82810628e+01] [ 3.77278225e-03 8.99807390e-05 9.99992879e-01 2.36641491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:18.29, Z:0.24 [[ 8.84685477e-01 -4.66176731e-01 -3.29582133e-03 6.51759623e+01] [ 4.66173115e-01 8.84691611e-01 -1.83835338e-03 1.82949696e+01] [ 3.77278305e-03 8.99412350e-05 9.99992879e-01 2.36365368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:18.31, Z:0.24 [[ 8.84746314e-01 -4.66061262e-01 -3.29531380e-03 6.52002883e+01] [ 4.66057642e-01 8.84752446e-01 -1.83926270e-03 1.83087517e+01] [ 3.77274604e-03 9.14747198e-05 9.99992879e-01 2.35510532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:18.32, Z:0.24 [[ 8.84445654e-01 -4.66631577e-01 -3.29480016e-03 6.52253192e+01] [ 4.66627957e-01 8.84451787e-01 -1.84018235e-03 1.83225057e+01] [ 3.77277908e-03 9.00954142e-05 9.99992879e-01 2.36470146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02088847899999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:65.25, Y:18.34, Z:0.24 [[ 8.84214317e-01 -4.67069790e-01 -3.29428295e-03 6.52491258e+01] [ 4.67066170e-01 8.84220450e-01 -1.84110780e-03 1.83352688e+01] [ 3.77279818e-03 8.92857526e-05 9.99992879e-01 2.37225109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.050888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:65.27, Y:18.35, Z:0.24 [[ 8.83787456e-01 -4.67876994e-01 -3.29406017e-03 6.52728915e+01] [ 4.67873378e-01 8.83793591e-01 -1.84150631e-03 1.83484004e+01] [ 3.77286770e-03 8.62971165e-05 9.99992879e-01 2.37741436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.080888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:65.30, Y:18.36, Z:0.24 [[ 8.83203716e-01 -4.68977981e-01 -3.29383900e-03 6.52973908e+01] [ 4.68974371e-01 8.83209854e-01 -1.84190182e-03 1.83623400e+01] [ 3.77296246e-03 8.20484606e-05 9.99992879e-01 2.38034776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:18.38, Z:0.24 [[ 8.82803072e-01 -4.69731722e-01 -3.29334545e-03 6.53257365e+01] [ 4.69728114e-01 8.82809211e-01 -1.84278388e-03 1.83754078e+01] [ 3.77300974e-03 7.98383196e-05 9.99992879e-01 2.38818669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:65.35, Y:18.39, Z:0.24 [[ 8.82034217e-01 -4.71173760e-01 -3.30569504e-03 6.53463353e+01] [ 4.71170245e-01 8.82040410e-01 -1.82070831e-03 1.83894215e+01] [ 3.77362659e-03 4.83818890e-05 9.99992879e-01 2.38020504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:18.40, Z:0.24 [[ 8.81604463e-01 -4.71977468e-01 -3.29264011e-03 6.53703645e+01] [ 4.71973871e-01 8.81610608e-01 -1.84401892e-03 1.84031061e+01] [ 3.77316183e-03 7.16552085e-05 9.99992879e-01 2.38502843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:18.42, Z:0.24 [[ 8.81733027e-01 -4.71737247e-01 -3.29212720e-03 6.53984312e+01] [ 4.71733645e-01 8.81739170e-01 -1.84493416e-03 1.84161086e+01] [ 3.77312166e-03 7.37322164e-05 9.99992879e-01 2.39231670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:18.43, Z:0.24 [[ 8.81366665e-01 -4.72421284e-01 -3.30637254e-03 6.54231528e+01] [ 4.72417781e-01 8.81372866e-01 -1.81953069e-03 1.84310714e+01] [ 3.77373207e-03 4.16845186e-05 9.99992879e-01 2.38459035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:65.45, Y:18.44, Z:0.24 [[ 8.81425390e-01 -4.72311706e-01 -3.30656370e-03 6.54474564e+01] [ 4.72308204e-01 8.81431592e-01 -1.81918995e-03 1.84439858e+01] [ 3.77373441e-03 4.17630490e-05 9.99992879e-01 2.38552697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:18.46, Z:0.24 [[ 8.80894142e-01 -4.73301753e-01 -3.31080199e-03 6.54725332e+01] [ 4.73298287e-01 8.80900363e-01 -1.81163686e-03 1.84577111e+01] [ 3.77393758e-03 2.88633863e-05 9.99992878e-01 2.39728376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:18.47, Z:0.24 [[ 8.79881156e-01 -4.75182271e-01 -3.31055206e-03 6.54916274e+01] [ 4.75178816e-01 8.79887384e-01 -1.81208182e-03 1.84726941e+01] [ 3.77398214e-03 2.13124362e-05 9.99992878e-01 2.40389164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:18.49, Z:0.24 [[ 8.79521884e-01 -4.75847071e-01 -3.28937394e-03 6.55150473e+01] [ 4.75843480e-01 8.79528033e-01 -1.84974261e-03 1.84861145e+01] [ 3.77329119e-03 6.16619601e-05 9.99992879e-01 2.40204203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:65.55, Y:18.50, Z:0.24 [[ 8.80129859e-01 -4.74721616e-01 -3.28915245e-03 6.55484255e+01] [ 4.74718015e-01 8.80136003e-01 -1.85013637e-03 1.84996909e+01] [ 3.77320121e-03 6.69403375e-05 9.99992879e-01 2.39914464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.410888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:65.56, Y:18.51, Z:0.24 [[ 8.77981262e-01 -4.78683450e-01 -3.32531599e-03 6.55636397e+01] [ 4.78680120e-01 8.77987559e-01 -1.78577792e-03 1.85147149e+01] [ 3.77440840e-03 -2.38831023e-05 9.99992877e-01 2.39324592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:18.53, Z:0.24 [[ 8.77241444e-01 -4.80038160e-01 -3.28839976e-03 6.55877017e+01] [ 4.80034592e-01 8.77247606e-01 -1.85134921e-03 1.85280066e+01] [ 3.77345909e-03 4.55346134e-05 9.99992879e-01 2.39679387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.470888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:65.61, Y:18.54, Z:0.24 [[ 8.75725788e-01 -4.82797610e-01 -3.28818688e-03 6.56126603e+01] [ 4.82794060e-01 8.75731961e-01 -1.85172724e-03 1.85407645e+01] [ 3.77357982e-03 3.40882008e-05 9.99992879e-01 2.41616958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.65, Y:18.55, Z:0.24 [[ 8.76893567e-01 -4.80673345e-01 -3.28767858e-03 6.56475117e+01] [ 4.80669776e-01 8.76899729e-01 -1.85262927e-03 1.85523992e+01] [ 3.77347396e-03 4.42709584e-05 9.99992879e-01 2.41647433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:65.66, Y:18.57, Z:0.24 [[ 8.74414305e-01 -4.85168592e-01 -3.32573409e-03 6.56611230e+01] [ 4.85165312e-01 8.74420628e-01 -1.78502235e-03 1.85680642e+01] [ 3.77412727e-03 -5.26817404e-05 9.99992877e-01 2.43222453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:18.58, Z:0.24 [[ 8.73735641e-01 -4.86389993e-01 -3.28692486e-03 6.56837099e+01] [ 4.86386461e-01 8.73741824e-01 -1.85383280e-03 1.85824257e+01] [ 3.77360945e-03 2.10440437e-05 9.99992880e-01 2.42920824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:65.71, Y:18.60, Z:0.24 [[ 8.73690505e-01 -4.86471067e-01 -3.28670479e-03 6.57077590e+01] [ 4.86467534e-01 8.73696687e-01 -1.85422290e-03 1.85966990e+01] [ 3.77360887e-03 2.11417681e-05 9.99992880e-01 2.42674720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:65.73, Y:18.61, Z:0.24 [[ 8.73674984e-01 -4.86498945e-01 -3.28619324e-03 6.57317284e+01] [ 4.86495409e-01 8.73681164e-01 -1.85512905e-03 1.86107671e+01] [ 3.77360346e-03 2.20619206e-05 9.99992880e-01 2.42958719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:65.76, Y:18.62, Z:0.24 [[ 8.73806729e-01 -4.86262279e-01 -3.28568309e-03 6.57552551e+01] [ 4.86258737e-01 8.73812906e-01 -1.85603215e-03 1.86242218e+01] [ 3.77359072e-03 2.41212713e-05 9.99992880e-01 2.42972333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:18.64, Z:0.24 [[ 8.74211302e-01 -4.85534556e-01 -3.28546132e-03 6.57787419e+01] [ 4.85531007e-01 8.74217476e-01 -1.85642464e-03 1.86382032e+01] [ 3.77356602e-03 2.77140575e-05 9.99992880e-01 2.43391451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:65.80, Y:18.65, Z:0.24 [[ 8.74365649e-01 -4.85256550e-01 -3.28524067e-03 6.58021664e+01] [ 4.85252999e-01 8.74371820e-01 -1.85681503e-03 1.86522906e+01] [ 3.77355352e-03 2.93623881e-05 9.99992880e-01 2.42737912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740888479 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:65.83, Y:18.67, Z:0.24 [[ 8.74549034e-01 -4.84925969e-01 -3.28502868e-03 6.58264976e+01] [ 4.84922414e-01 8.74555203e-01 -1.85719002e-03 1.86667877e+01] [ 3.77353859e-03 3.12196989e-05 9.99992880e-01 2.42354053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77088847899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:65.85, Y:18.68, Z:0.24 [[ 8.74946900e-01 -4.84207739e-01 -3.28455900e-03 6.58505846e+01] [ 4.84204175e-01 8.74953064e-01 -1.85802029e-03 1.86820100e+01] [ 3.77350277e-03 3.52719086e-05 9.99992880e-01 2.42073490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:18.70, Z:0.24 [[ 8.74946920e-01 -4.84207706e-01 -3.28406867e-03 6.58750504e+01] [ 4.84204139e-01 8.74953082e-01 -1.85888656e-03 1.86964408e+01] [ 3.77349320e-03 3.62674325e-05 9.99992880e-01 2.42756825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:18.71, Z:0.24 [[ 8.76804379e-01 -4.80836041e-01 -3.28355516e-03 6.59094975e+01] [ 4.80832447e-01 8.76810526e-01 -1.85979318e-03 1.87082046e+01] [ 3.77331132e-03 5.18349464e-05 9.99992880e-01 2.42726686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:18.72, Z:0.24 [[ 8.75220434e-01 -4.83712880e-01 -3.32283338e-03 6.59233924e+01] [ 4.83709568e-01 8.75226741e-01 -1.79035677e-03 1.87246684e+01] [ 3.77425126e-03 -4.03294744e-05 9.99992877e-01 2.44559070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:65.95, Y:18.74, Z:0.24 [[ 8.75014809e-01 -4.84085019e-01 -3.28290180e-03 6.59462174e+01] [ 4.84081445e-01 8.75020967e-01 -1.86080556e-03 1.87392671e+01] [ 3.77339600e-03 3.90405826e-05 9.99992880e-01 2.44354485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:65.97, Y:18.75, Z:0.24 [[ 8.74745740e-01 -4.84571063e-01 -3.28268138e-03 6.59702164e+01] [ 4.84567490e-01 8.74751898e-01 -1.86119433e-03 1.87545355e+01] [ 3.77341268e-03 3.73911340e-05 9.99992880e-01 2.44319690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:18.77, Z:0.24 [[ 8.75818667e-01 -4.82629144e-01 -3.28218289e-03 6.60042287e+01] [ 4.82625554e-01 8.75824815e-01 -1.86207298e-03 1.87678724e+01] [ 3.77330791e-03 4.67729387e-05 9.99992880e-01 2.43271259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:18.78, Z:0.25 [[ 8.73474969e-01 -4.86857731e-01 -3.32084494e-03 6.60178020e+01] [ 4.86854428e-01 8.73481281e-01 -1.79385001e-03 1.87832278e+01] [ 3.77404564e-03 -4.98849806e-05 9.99992877e-01 2.45397428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:18.80, Z:0.25 [[ 8.73341265e-01 -4.87097800e-01 -3.28139874e-03 6.60426191e+01] [ 4.87094237e-01 8.73347430e-01 -1.86331686e-03 1.87974479e+01] [ 3.77341870e-03 2.89610873e-05 9.99992880e-01 2.45470881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:18.81, Z:0.25 [[ 8.73024995e-01 -4.87664428e-01 -3.28088689e-03 6.60659266e+01] [ 4.87660865e-01 8.73031159e-01 -1.86421768e-03 1.88112535e+01] [ 3.77342914e-03 2.75484854e-05 9.99992880e-01 2.46011430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:66.09, Y:18.83, Z:0.25 [[ 8.72432827e-01 -4.88723030e-01 -3.28066503e-03 6.60896505e+01] [ 4.88719474e-01 8.72438995e-01 -1.86460803e-03 1.88257864e+01] [ 3.77345699e-03 2.34203620e-05 9.99992880e-01 2.46352360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:18.84, Z:0.25 [[ 8.71869859e-01 -4.89726649e-01 -3.28014502e-03 6.61129529e+01] [ 4.89723096e-01 8.71876029e-01 -1.86552237e-03 1.88404913e+01] [ 3.77347583e-03 2.01299465e-05 9.99992880e-01 2.46077072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:66.15, Y:18.86, Z:0.24 [[ 8.71721380e-01 -4.89990895e-01 -3.27991988e-03 6.61455379e+01] [ 4.89987343e-01 8.71727550e-01 -1.86591812e-03 1.88556045e+01] [ 3.77347941e-03 1.94414954e-05 9.99992880e-01 2.44612626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:18.87, Z:0.24 [[ 8.70762408e-01 -4.91692784e-01 -3.32199361e-03 6.61690478e+01] [ 4.91689524e-01 8.70768741e-01 -1.79195653e-03 1.88713603e+01] [ 3.77378029e-03 -7.30210725e-05 9.99992877e-01 2.44307035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:18.89, Z:0.25 [[ 8.68745011e-01 -4.95248520e-01 -3.31814178e-03 6.61833632e+01] [ 4.95245260e-01 8.68751344e-01 -1.79870976e-03 1.88881642e+01] [ 3.77344848e-03 -8.06738588e-05 9.99992877e-01 2.45826834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:18.90, Z:0.25 [[ 8.67553011e-01 -4.97333934e-01 -3.27588426e-03 6.62052905e+01] [ 4.97330409e-01 8.67559196e-01 -1.87263284e-03 1.89035247e+01] [ 3.77334737e-03 -4.58859903e-06 9.99992881e-01 2.46042925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.23, Y:18.92, Z:0.25 [[ 8.67040726e-01 -4.98226505e-01 -3.27566140e-03 6.62293287e+01] [ 4.98222984e-01 8.67046913e-01 -1.87302260e-03 1.89183395e+01] [ 3.77334161e-03 -8.02292509e-06 9.99992881e-01 2.46406239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:18.93, Z:0.25 [[ 8.66645923e-01 -4.98912935e-01 -3.27515181e-03 6.62529789e+01] [ 4.98909416e-01 8.66652112e-01 -1.87391324e-03 1.89335994e+01] [ 3.77333679e-03 -9.98480920e-06 9.99992881e-01 2.46729637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:18.95, Z:0.25 [[ 8.66730096e-01 -4.98766697e-01 -3.27462512e-03 6.62757260e+01] [ 4.98763173e-01 8.66736282e-01 -1.87483316e-03 1.89481949e+01] [ 3.77334075e-03 -8.28809415e-06 9.99992881e-01 2.46776112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:18.96, Z:0.25 [[ 8.67506346e-01 -4.97415338e-01 -3.27426732e-03 6.62969369e+01] [ 4.97411802e-01 8.67512525e-01 -1.87545783e-03 1.89646289e+01] [ 3.77334940e-03 -1.68764293e-06 9.99992881e-01 2.46813705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:18.98, Z:0.25 [[ 8.68048331e-01 -4.96468907e-01 -3.27404267e-03 6.63205449e+01] [ 4.96465363e-01 8.68054505e-01 -1.87584994e-03 1.89801537e+01] [ 3.77334865e-03 2.87962471e-06 9.99992881e-01 2.47565420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:66.34, Y:19.00, Z:0.25 [[ 8.69658037e-01 -4.93643781e-01 -3.27352397e-03 6.63419795e+01] [ 4.93640213e-01 8.69664198e-01 -1.87675466e-03 1.89965484e+01] [ 3.77331487e-03 1.61917023e-05 9.99992881e-01 2.48763964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.37, Y:19.01, Z:0.25 [[ 8.70764917e-01 -4.91688668e-01 -3.27317091e-03 6.63659031e+01] [ 4.91685085e-01 8.70771068e-01 -1.87737022e-03 1.90122201e+01] [ 3.77326419e-03 2.53788073e-05 9.99992881e-01 2.49124539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.39, Y:19.03, Z:0.25 [[ 8.71913420e-01 -4.89649138e-01 -3.27265193e-03 6.63893186e+01] [ 4.89645537e-01 8.71919561e-01 -1.87827449e-03 1.90274147e+01] [ 3.77318471e-03 3.52533225e-05 9.99992881e-01 2.49155461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.41, Y:19.04, Z:0.25 [[ 8.74388479e-01 -4.85215499e-01 -3.27211511e-03 6.64107834e+01] [ 4.85211863e-01 8.74394600e-01 -1.87920921e-03 1.90438953e+01] [ 3.77294121e-03 5.54898154e-05 9.99992881e-01 2.48615417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52088847899999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:66.43, Y:19.06, Z:0.25 [[ 8.75492592e-01 -4.83220464e-01 -3.27175076e-03 6.64326354e+01] [ 4.83216812e-01 8.75498703e-01 -1.87984333e-03 1.90594678e+01] [ 3.77279231e-03 6.48239335e-05 9.99992881e-01 2.48113764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.550888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.46, Y:19.08, Z:0.25 [[ 8.76185564e-01 -4.81962845e-01 -3.26693630e-03 6.64564233e+01] [ 4.81959153e-01 8.76191651e-01 -1.88822012e-03 1.90753455e+01] [ 3.77251426e-03 7.99013588e-05 9.99992881e-01 2.48981545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.580888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.48, Y:19.09, Z:0.25 [[ 8.76741690e-01 -4.80950422e-01 -3.27130239e-03 6.64802614e+01] [ 4.80946751e-01 8.76747789e-01 -1.88062541e-03 1.90908369e+01] [ 3.77259473e-03 7.55004436e-05 9.99992881e-01 2.49955865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:66.50, Y:19.11, Z:0.25 [[ 8.77872902e-01 -4.78882521e-01 -3.27077142e-03 6.65024242e+01] [ 4.78878833e-01 8.77878991e-01 -1.88154842e-03 1.91062673e+01] [ 3.77238217e-03 8.54571711e-05 9.99992881e-01 2.51639574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:66.53, Y:19.12, Z:0.25 [[ 8.78160894e-01 -4.78354207e-01 -3.27054080e-03 6.65257535e+01] [ 4.78350513e-01 8.78166980e-01 -1.88194922e-03 1.91219508e+01] [ 3.77231926e-03 8.81893380e-05 9.99992881e-01 2.51948333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:66.55, Y:19.14, Z:0.25 [[ 8.78491184e-01 -4.77747367e-01 -3.27002769e-03 6.65477161e+01] [ 4.77743665e-01 8.78497265e-01 -1.88284035e-03 1.91388036e+01] [ 3.77223240e-03 9.18236365e-05 9.99992881e-01 2.52051929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700888479 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:66.57, Y:19.15, Z:0.25 [[ 8.78250242e-01 -4.78190153e-01 -3.26967928e-03 6.65715097e+01] [ 4.78186452e-01 8.78256323e-01 -1.88344520e-03 1.91540518e+01] [ 3.77226145e-03 9.06198656e-05 9.99992881e-01 2.51522301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730888479 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:66.60, Y:19.17, Z:0.25 [[ 8.77911803e-01 -4.78811214e-01 -3.26916963e-03 6.65955770e+01] [ 4.78807514e-01 8.77917885e-01 -1.88432941e-03 1.91695075e+01] [ 3.77230054e-03 8.89720474e-05 9.99992881e-01 2.51453070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760888479 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:66.62, Y:19.18, Z:0.25 [[ 8.77503028e-01 -4.79559956e-01 -3.26866301e-03 6.66196847e+01] [ 4.79556258e-01 8.77509112e-01 -1.88520781e-03 1.91842139e+01] [ 3.77235175e-03 8.67677611e-05 9.99992881e-01 2.50643888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:66.64, Y:19.20, Z:0.25 [[ 8.76297131e-01 -4.81759958e-01 -3.26815119e-03 6.66421801e+01] [ 4.81756272e-01 8.76303222e-01 -1.88609467e-03 1.91992252e+01] [ 3.77253630e-03 7.83270099e-05 9.99992881e-01 2.48483107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820888479 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:66.67, Y:19.22, Z:0.25 [[ 8.76222717e-01 -4.81895373e-01 -3.25578854e-03 6.66686840e+01] [ 4.81891609e-01 8.76228759e-01 -1.90750228e-03 1.92158454e+01] [ 3.77203207e-03 1.02459656e-04 9.99992881e-01 2.49658874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850888479 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:66.69, Y:19.23, Z:0.25 [[ 8.75648173e-01 -4.82938504e-01 -3.26770900e-03 6.66912108e+01] [ 4.82934824e-01 8.75654267e-01 -1.88685812e-03 1.92302801e+01] [ 3.77261977e-03 7.41333958e-05 9.99992881e-01 2.49679265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88088847899999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:66.71, Y:19.25, Z:0.25 [[ 8.74663341e-01 -4.84719882e-01 -3.26748298e-03 6.67143220e+01] [ 4.84716213e-01 8.74669441e-01 -1.88724944e-03 1.92455705e+01] [ 3.77275484e-03 6.69059280e-05 9.99992881e-01 2.49614097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.910888479 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:66.74, Y:19.26, Z:0.25 [[ 8.73932311e-01 -4.86036668e-01 -3.26694916e-03 6.67382156e+01] [ 4.86033004e-01 8.73938415e-01 -1.88817307e-03 1.92603833e+01] [ 3.77283372e-03 6.22903449e-05 9.99992881e-01 2.49614557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.940888479 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:66.76, Y:19.27, Z:0.25 [[ 8.73348833e-01 -4.87084332e-01 -3.26641651e-03 6.67621855e+01] [ 4.87080672e-01 8.73354939e-01 -1.88909407e-03 1.92749510e+01] [ 3.77288911e-03 5.88297477e-05 9.99992881e-01 2.49468564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.970888479 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:66.78, Y:19.29, Z:0.25 [[ 8.72083764e-01 -4.89345729e-01 -3.26588504e-03 6.67844783e+01] [ 4.89342082e-01 8.72089878e-01 -1.89001244e-03 1.92902996e+01] [ 3.77301480e-03 5.01141751e-05 9.99992881e-01 2.48658036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000888479 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:66.81, Y:19.31, Z:0.25 [[ 8.71181935e-01 -4.90949459e-01 -3.26565451e-03 6.68082789e+01] [ 4.90945822e-01 8.71188055e-01 -1.89041067e-03 1.93055270e+01] [ 3.77309529e-03 4.36321856e-05 9.99992881e-01 2.48589807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030888479 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:66.83, Y:19.32, Z:0.25 [[ 8.70452658e-01 -4.92241312e-01 -3.26512673e-03 6.68318228e+01] [ 4.92237680e-01 8.70458781e-01 -1.89132181e-03 1.93202068e+01] [ 3.77314496e-03 3.90876893e-05 9.99992881e-01 2.48608834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060888479 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:66.85, Y:19.33, Z:0.25 [[ 8.69332654e-01 -4.94216632e-01 -3.26459535e-03 6.68543610e+01] [ 4.94213011e-01 8.69338783e-01 -1.89223859e-03 1.93349722e+01] [ 3.77321513e-03 3.15792949e-05 9.99992881e-01 2.48974201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090888479 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:66.88, Y:19.35, Z:0.25 [[ 8.68778107e-01 -4.95190817e-01 -3.26423422e-03 6.68778645e+01] [ 4.95187200e-01 8.68784239e-01 -1.89286134e-03 1.93497497e+01] [ 3.77324280e-03 2.80694861e-05 9.99992881e-01 2.49873529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120888479 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:66.90, Y:19.36, Z:0.25 [[ 8.68277043e-01 -4.96068871e-01 -3.26370435e-03 6.69014482e+01] [ 4.96065257e-01 8.68283176e-01 -1.89377452e-03 1.93645648e+01] [ 3.77326217e-03 2.53106007e-05 9.99992881e-01 2.50463988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150888479 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:66.91, Y:19.38, Z:0.25 [[ 8.64548118e-01 -5.02539454e-01 -3.26317608e-03 6.69142189e+01] [ 5.02535882e-01 8.64554277e-01 -1.89468435e-03 1.93828608e+01] [ 3.77334647e-03 -1.81728133e-06 9.99992881e-01 2.46957082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.180888479 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:66.95, Y:19.39, Z:0.25 [[ 8.68425987e-01 -4.95808399e-01 -3.21519512e-03 6.69501855e+01] [ 4.95804472e-01 8.68431930e-01 -1.97715818e-03 1.93949141e+01] [ 3.77246973e-03 1.22907426e-04 9.99992877e-01 2.52704084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210888479 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:66.97, Y:19.41, Z:0.25 [[ 8.68816809e-01 -4.95122920e-01 -3.26298534e-03 6.69744791e+01] [ 4.95119295e-01 8.68822935e-01 -1.89486265e-03 1.94099336e+01] [ 3.77314643e-03 3.07215122e-05 9.99992881e-01 2.52697326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240888479 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:67.00, Y:19.43, Z:0.25 [[ 8.69169197e-01 -4.94504058e-01 -3.26246792e-03 6.69977453e+01] [ 4.94500425e-01 8.69175319e-01 -1.89575309e-03 1.94250463e+01] [ 3.77311420e-03 3.44384195e-05 9.99992881e-01 2.52242870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27088847899999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:67.02, Y:19.44, Z:0.25 [[ 8.70648579e-01 -4.91894715e-01 -3.26195014e-03 6.70203104e+01] [ 4.91891061e-01 8.70654689e-01 -1.89664361e-03 1.94419934e+01] [ 3.77298115e-03 4.67859538e-05 9.99992881e-01 2.50429356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.300888479 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:67.04, Y:19.46, Z:0.25 [[ 8.71481009e-01 -4.90418407e-01 -3.26142733e-03 6.70442872e+01] [ 4.90414739e-01 8.71487110e-01 -1.89754219e-03 1.94574672e+01] [ 3.77288150e-03 5.42199475e-05 9.99992881e-01 2.49888894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.330888479 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:67.07, Y:19.47, Z:0.25 [[ 8.72347892e-01 -4.88874751e-01 -3.26089686e-03 6.70683589e+01] [ 4.88871068e-01 8.72353985e-01 -1.89845336e-03 1.94725374e+01] [ 3.77276228e-03 6.19536605e-05 9.99992881e-01 2.49267280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360888479 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:67.09, Y:19.49, Z:0.25 [[ 8.73093187e-01 -4.87542467e-01 -3.26036360e-03 6.70919381e+01] [ 4.87538772e-01 8.73099272e-01 -1.89936873e-03 1.94874404e+01] [ 3.77264400e-03 6.87722304e-05 9.99992881e-01 2.47317878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390888479 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:67.12, Y:19.50, Z:0.25 [[ 8.74386427e-01 -4.85219278e-01 -3.26019858e-03 6.71160032e+01] [ 4.85215566e-01 8.74392501e-01 -1.89965194e-03 1.95028310e+01] [ 3.77244093e-03 7.91307728e-05 9.99992881e-01 2.47265738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420888479 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:67.14, Y:19.52, Z:0.25 [[ 8.74635421e-01 -4.84770311e-01 -3.25974963e-03 6.71399688e+01] [ 4.84766593e-01 8.74641492e-01 -1.90042200e-03 1.95167703e+01] [ 3.77238045e-03 8.19586742e-05 9.99992881e-01 2.47947563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450888479 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:67.17, Y:19.53, Z:0.25 [[ 8.74563318e-01 -4.84900382e-01 -3.25923314e-03 6.71651433e+01] [ 4.84896662e-01 8.74569387e-01 -1.90130737e-03 1.95314738e+01] [ 3.77237020e-03 8.24224155e-05 9.99992881e-01 2.49911347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480888479 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:67.19, Y:19.55, Z:0.25 [[ 8.74591776e-01 -4.84849054e-01 -3.25877150e-03 6.71917327e+01] [ 4.84845330e-01 8.74597843e-01 -1.90209828e-03 1.95463887e+01] [ 3.77234508e-03 8.35593694e-05 9.99992881e-01 2.52591485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510888479 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:67.22, Y:19.56, Z:0.25 [[ 8.73876528e-01 -4.86136939e-01 -3.26947923e-03 6.72155849e+01] [ 4.86133293e-01 8.73882643e-01 -1.88375390e-03 1.95612253e+01] [ 3.77290350e-03 5.67656169e-05 9.99992881e-01 2.50473090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540888479 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:67.24, Y:19.57, Z:0.25 [[ 8.73316270e-01 -4.87142733e-01 -3.26363443e-03 6.72387787e+01] [ 4.87139056e-01 8.73322365e-01 -1.89376126e-03 1.95746837e+01] [ 3.77273697e-03 6.40087232e-05 9.99992881e-01 2.50315769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570888479 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:67.26, Y:19.59, Z:0.25 [[ 8.72562629e-01 -4.88491360e-01 -3.26337200e-03 6.72624213e+01] [ 4.88487691e-01 8.72568729e-01 -1.89421041e-03 1.95875979e+01] [ 3.77282178e-03 5.87001639e-05 9.99992881e-01 2.51414279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600888479 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:67.29, Y:19.60, Z:0.25 [[ 8.72195468e-01 -4.89146659e-01 -3.25748253e-03 6.72869731e+01] [ 4.89142957e-01 8.72201549e-01 -1.90428497e-03 1.96012110e+01] [ 3.77265594e-03 6.75340799e-05 9.99992881e-01 2.52361140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63088847899999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:67.31, Y:19.62, Z:0.25 [[ 8.72051606e-01 -4.89403094e-01 -3.25695611e-03 6.73113608e+01] [ 4.89399390e-01 8.72057686e-01 -1.90518490e-03 1.96152731e+01] [ 3.77265699e-03 6.74672137e-05 9.99992881e-01 2.53057262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.660888479 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:67.34, Y:19.63, Z:0.25 [[ 8.71351941e-01 -4.90647725e-01 -3.25641100e-03 6.73362686e+01] [ 4.90644027e-01 8.71358024e-01 -1.90611617e-03 1.96305550e+01] [ 3.77273142e-03 6.31594203e-05 9.99992881e-01 2.48764397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.690888479 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:67.36, Y:19.65, Z:0.25 [[ 8.71400370e-01 -4.90561650e-01 -3.26544878e-03 6.73603828e+01] [ 4.90558009e-01 8.71406487e-01 -1.89067387e-03 1.96451498e+01] [ 3.77302534e-03 4.56418529e-05 9.99992881e-01 2.49661724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.720888479 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:67.39, Y:19.66, Z:0.25 [[ 8.71760668e-01 -4.89921100e-01 -3.26392714e-03 6.73850619e+01] [ 4.89917444e-01 8.71766777e-01 -1.89327279e-03 1.96591232e+01] [ 3.77293753e-03 5.14259074e-05 9.99992881e-01 2.48857006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:67.41, Y:19.67, Z:0.25 [[ 8.72173853e-01 -4.89185184e-01 -3.25961821e-03 6.74093899e+01] [ 4.89181496e-01 8.72179942e-01 -1.90062704e-03 1.96704243e+01] [ 3.77273221e-03 6.31322936e-05 9.99992881e-01 2.49689291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780888479 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:67.43, Y:19.68, Z:0.25 [[ 8.72224823e-01 -4.89094330e-01 -3.25498549e-03 6.74345009e+01] [ 4.89090611e-01 8.72230893e-01 -1.90852812e-03 1.96837151e+01] [ 3.77254918e-03 7.26827541e-05 9.99992881e-01 2.50846153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810888479 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:67.46, Y:19.70, Z:0.25 [[ 8.72107016e-01 -4.89304364e-01 -3.25445929e-03 6.74601940e+01] [ 4.89300644e-01 8.72113086e-01 -1.90942499e-03 1.96981046e+01] [ 3.77254651e-03 7.28139054e-05 9.99992881e-01 2.49682689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840888479 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:67.48, Y:19.71, Z:0.25 [[ 8.72396996e-01 -4.88787148e-01 -3.25652228e-03 6.74843184e+01] [ 4.88783437e-01 8.72403071e-01 -1.90591030e-03 1.97116234e+01] [ 3.77258450e-03 7.09762640e-05 9.99992881e-01 2.51099148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870888479 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:67.51, Y:19.72, Z:0.25 [[ 8.72625497e-01 -4.88379110e-01 -3.25373726e-03 6.75104154e+01] [ 4.88375379e-01 8.72631559e-01 -1.91065304e-03 1.97245887e+01] [ 3.77243685e-03 7.82393900e-05 9.99992881e-01 2.51408776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900888479 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:67.54, Y:19.74, Z:0.25 [[ 8.72490440e-01 -4.88620351e-01 -3.25327489e-03 6.75350208e+01] [ 4.88616619e-01 8.72496502e-01 -1.91144000e-03 1.97391338e+01] [ 3.77243944e-03 7.81089566e-05 9.99992881e-01 2.51516290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930888479 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:67.56, Y:19.75, Z:0.25 [[ 8.72401173e-01 -4.88779718e-01 -3.25274617e-03 6.75584937e+01] [ 4.88775984e-01 8.72407233e-01 -1.91233930e-03 1.97519265e+01] [ 3.77243196e-03 7.84628415e-05 9.99992881e-01 2.51322789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960888479 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:67.58, Y:19.77, Z:0.25 [[ 8.72247242e-01 -4.89054364e-01 -3.25238685e-03 6.75836513e+01] [ 4.89050629e-01 8.72253302e-01 -1.91295023e-03 1.97652127e+01] [ 3.77244182e-03 7.79837270e-05 9.99992881e-01 2.51949158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:67.61, Y:19.78, Z:0.25 [[ 8.71976845e-01 -4.89536319e-01 -3.25185368e-03 6.76098060e+01] [ 4.89532584e-01 8.71982905e-01 -1.91385614e-03 1.97772051e+01] [ 3.77246291e-03 7.69499013e-05 9.99992881e-01 2.52947613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02088847899999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:67.64, Y:19.79, Z:0.25 [[ 8.71878820e-01 -4.89710885e-01 -3.25139165e-03 6.76352090e+01] [ 4.89707149e-01 8.71884879e-01 -1.91464075e-03 1.97907558e+01] [ 3.77245963e-03 7.71049827e-05 9.99992881e-01 2.53477531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.050888479 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:67.66, Y:19.80, Z:0.25 [[ 8.71921154e-01 -4.89635511e-01 -3.25092902e-03 6.76600314e+01] [ 4.89631771e-01 8.71927211e-01 -1.91542594e-03 1.98037451e+01] [ 3.77243403e-03 7.83422591e-05 9.99992881e-01 2.53488833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.080888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:67.69, Y:19.82, Z:0.25 [[ 8.71874122e-01 -4.89719255e-01 -3.25076507e-03 6.76857125e+01] [ 4.89715514e-01 8.71880178e-01 -1.91570415e-03 1.98162357e+01] [ 3.77243484e-03 7.83027880e-05 9.99992881e-01 2.54916673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:67.71, Y:19.83, Z:0.25 [[ 8.71924800e-01 -4.89629022e-01 -3.25022506e-03 6.77091133e+01] [ 4.89625277e-01 8.71930854e-01 -1.91661990e-03 1.98293179e+01] [ 3.77240424e-03 7.97560772e-05 9.99992881e-01 2.53630037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:67.73, Y:19.84, Z:0.25 [[ 8.71850883e-01 -4.89760630e-01 -3.24999200e-03 6.77336476e+01] [ 4.89756885e-01 8.71856937e-01 -1.91701501e-03 1.98431325e+01] [ 3.77240655e-03 7.96452664e-05 9.99992881e-01 2.54293990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170888479 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:67.76, Y:19.86, Z:0.25 [[ 8.71817630e-01 -4.89819825e-01 -3.24945712e-03 6.77582805e+01] [ 4.89816077e-01 8.71823682e-01 -1.91792123e-03 1.98566932e+01] [ 3.77238952e-03 8.04412044e-05 9.99992881e-01 2.54519007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:67.78, Y:19.87, Z:0.26 [[ 8.71883239e-01 -4.89703034e-01 -3.24892470e-03 6.77821909e+01] [ 4.89699282e-01 8.71889289e-01 -1.91882273e-03 1.98686304e+01] [ 3.77235596e-03 8.19932855e-05 9.99992881e-01 2.55108286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230888479 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:67.81, Y:19.88, Z:0.26 [[ 8.71599493e-01 -4.90207884e-01 -3.24869413e-03 6.78064922e+01] [ 4.90204133e-01 8.71605544e-01 -1.91921302e-03 1.98818932e+01] [ 3.77239317e-03 8.02618048e-05 9.99992881e-01 2.55456243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260888479 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:67.83, Y:19.89, Z:0.26 [[ 8.71102811e-01 -4.91089952e-01 -3.24816231e-03 6.78300324e+01] [ 4.91086205e-01 8.71108864e-01 -1.92011267e-03 1.98945962e+01] [ 3.77245102e-03 7.74878474e-05 9.99992881e-01 2.55495257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:67.85, Y:19.91, Z:0.26 [[ 8.70581182e-01 -4.92014081e-01 -3.24793210e-03 6.78549845e+01] [ 4.92010338e-01 8.70587238e-01 -1.92050201e-03 1.99077679e+01] [ 3.77252226e-03 7.39367386e-05 9.99992881e-01 2.55696821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:67.88, Y:19.92, Z:0.26 [[ 8.69211025e-01 -4.94430631e-01 -3.24740768e-03 6.78799340e+01] [ 4.94426902e-01 8.69217089e-01 -1.92138835e-03 1.99206052e+01] [ 3.77269550e-03 6.44862145e-05 9.99992881e-01 2.55855400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:67.90, Y:19.93, Z:0.26 [[ 8.68531569e-01 -4.95623215e-01 -3.24686969e-03 6.79044590e+01] [ 4.95619491e-01 8.68537636e-01 -1.92229704e-03 1.99341655e+01] [ 3.77276356e-03 6.03637587e-05 9.99992881e-01 2.55362149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38088847899999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:67.93, Y:19.95, Z:0.26 [[ 8.66818728e-01 -4.98612827e-01 -3.24670297e-03 6.79301658e+01] [ 4.98609122e-01 8.66824807e-01 -1.92257859e-03 1.99464223e+01] [ 3.77294502e-03 4.76914072e-05 9.99992881e-01 2.56422665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.410888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.95, Y:19.96, Z:0.26 [[ 8.65925578e-01 -5.00162330e-01 -3.24616809e-03 6.79541432e+01] [ 5.00158633e-01 8.65931661e-01 -1.92348127e-03 1.99587382e+01] [ 3.77301260e-03 4.19926346e-05 9.99992881e-01 2.57052707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.440888479 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:67.98, Y:19.97, Z:0.26 [[ 8.65046927e-01 -5.01680455e-01 -3.24593647e-03 6.79784699e+01] [ 5.01676767e-01 8.65053016e-01 -1.92387206e-03 1.99719334e+01] [ 3.77307614e-03 3.58286934e-05 9.99992881e-01 2.57450817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.470888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:68.00, Y:19.99, Z:0.26 [[ 8.63919054e-01 -5.03620229e-01 -3.24541564e-03 6.80039804e+01] [ 5.03616552e-01 8.63925149e-01 -1.92475026e-03 1.99858276e+01] [ 3.77313936e-03 2.83833880e-05 9.99992881e-01 2.57751883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:68.03, Y:20.00, Z:0.26 [[ 8.63505928e-01 -5.04328249e-01 -3.24495900e-03 6.80287936e+01] [ 5.04324574e-01 8.63512025e-01 -1.92551980e-03 1.99999635e+01] [ 3.77315515e-03 2.61852012e-05 9.99992881e-01 2.58186258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:68.05, Y:20.01, Z:0.26 [[ 8.63321980e-01 -5.04643075e-01 -3.24442920e-03 6.80533417e+01] [ 5.04639399e-01 8.63328076e-01 -1.92641209e-03 2.00138602e+01] [ 3.77315734e-03 2.58471024e-05 9.99992881e-01 2.56860668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:68.08, Y:20.03, Z:0.26 [[ 8.63066676e-01 -5.05079586e-01 -3.24426522e-03 6.80771867e+01] [ 5.05075911e-01 8.63072773e-01 -1.92668820e-03 2.00279423e+01] [ 3.77316786e-03 2.42601623e-05 9.99992881e-01 2.57792107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:68.10, Y:20.04, Z:0.26 [[ 8.63157333e-01 -5.04924644e-01 -3.24374686e-03 6.81014897e+01] [ 5.04920966e-01 8.63163428e-01 -1.92756052e-03 2.00419268e+01] [ 3.77315646e-03 2.59521999e-05 9.99992881e-01 2.57723899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:68.12, Y:20.05, Z:0.26 [[ 8.63111508e-01 -5.05002976e-01 -3.24321202e-03 6.81247135e+01] [ 5.04999294e-01 8.63117601e-01 -1.92845999e-03 2.00549358e+01] [ 3.77315141e-03 2.66562316e-05 9.99992881e-01 2.57269684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:68.15, Y:20.07, Z:0.26 [[ 8.62941964e-01 -5.05292639e-01 -3.24298008e-03 6.81493772e+01] [ 5.05288958e-01 8.62948057e-01 -1.92884995e-03 2.00686369e+01] [ 3.77315704e-03 2.58435358e-05 9.99992881e-01 2.57573107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:68.17, Y:20.08, Z:0.26 [[ 8.63280398e-01 -5.04714217e-01 -3.24245506e-03 6.81732631e+01] [ 5.04710528e-01 8.63286487e-01 -1.92973212e-03 2.00816500e+01] [ 3.77313087e-03 2.93987015e-05 9.99992881e-01 2.57428911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:20.10, Z:0.26 [[ 8.63465098e-01 -5.04398169e-01 -3.24222810e-03 6.81969092e+01] [ 5.04394477e-01 8.63471184e-01 -1.93011336e-03 2.00959227e+01] [ 3.77311619e-03 3.12235749e-05 9.99992881e-01 2.58302391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:68.22, Y:20.11, Z:0.26 [[ 8.63808380e-01 -5.03810057e-01 -3.24168970e-03 6.82202297e+01] [ 5.03806357e-01 8.63814462e-01 -1.93101720e-03 2.01096411e+01] [ 3.77308433e-03 3.48449624e-05 9.99992881e-01 2.57879110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.24, Y:20.12, Z:0.26 [[ 8.64725458e-01 -5.02234383e-01 -3.24145625e-03 6.82443718e+01] [ 5.02230671e-01 8.64731532e-01 -1.93140899e-03 2.01229444e+01] [ 3.77300944e-03 4.21797765e-05 9.99992881e-01 2.57785204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.800888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.27, Y:20.14, Z:0.26 [[ 8.64995588e-01 -5.01768999e-01 -3.24109420e-03 6.82682341e+01] [ 5.01765282e-01 8.65001659e-01 -1.93201636e-03 2.01368126e+01] [ 3.77297778e-03 4.49170795e-05 9.99992881e-01 2.57547074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:20.15, Z:0.26 [[ 8.65381003e-01 -5.01104000e-01 -3.24055697e-03 6.82916767e+01] [ 5.01100275e-01 8.65387069e-01 -1.93291704e-03 2.01507631e+01] [ 3.77292856e-03 4.88657048e-05 9.99992881e-01 2.56936691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:20.16, Z:0.25 [[ 8.64174096e-01 -5.03182503e-01 -3.24032348e-03 6.83123164e+01] [ 5.03178791e-01 8.64180170e-01 -1.93330838e-03 2.01646585e+01] [ 3.77303025e-03 4.02529719e-05 9.99992881e-01 2.53602922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.34, Y:20.18, Z:0.26 [[ 8.65781371e-01 -5.00412118e-01 -3.21404231e-03 6.83423897e+01] [ 5.00408222e-01 8.65787331e-01 -1.97731106e-03 2.01795821e+01] [ 3.77214753e-03 1.03585885e-04 9.99992880e-01 2.56810810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.37, Y:20.19, Z:0.26 [[ 8.65763031e-01 -5.00443680e-01 -3.24007063e-03 6.83661441e+01] [ 5.00439947e-01 8.65769092e-01 -1.93369848e-03 2.01931318e+01] [ 3.77286019e-03 5.26638841e-05 9.99992881e-01 2.56276732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.39, Y:20.21, Z:0.26 [[ 8.65606234e-01 -5.00714842e-01 -3.23971029e-03 6.83906731e+01] [ 5.00711108e-01 8.65612295e-01 -1.93430201e-03 2.02072054e+01] [ 3.77286678e-03 5.21849545e-05 9.99992881e-01 2.56003677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.42, Y:20.22, Z:0.26 [[ 8.65480084e-01 -5.00932862e-01 -3.23918484e-03 6.84154476e+01] [ 5.00929127e-01 8.65486144e-01 -1.93518152e-03 2.02200368e+01] [ 3.77286562e-03 5.22590307e-05 9.99992881e-01 2.56580524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.44, Y:20.23, Z:0.26 [[ 8.65455080e-01 -5.00976063e-01 -3.23866175e-03 6.84393487e+01] [ 5.00972325e-01 8.65461138e-01 -1.93605656e-03 2.02332896e+01] [ 3.77285388e-03 5.30900783e-05 9.99992881e-01 2.57282495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:68.46, Y:20.25, Z:0.26 [[ 8.65419619e-01 -5.01037320e-01 -3.23843497e-03 6.84640399e+01] [ 5.01033581e-01 8.65425676e-01 -1.93643582e-03 2.02473145e+01] [ 3.77285139e-03 5.32648836e-05 9.99992881e-01 2.57541155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:20.26, Z:0.26 [[ 8.65235408e-01 -5.01355368e-01 -3.23792289e-03 6.84870903e+01] [ 5.01351628e-01 8.65241465e-01 -1.93729169e-03 2.02607332e+01] [ 3.77285673e-03 5.28754476e-05 9.99992881e-01 2.57637494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:68.51, Y:20.27, Z:0.26 [[ 8.65212091e-01 -5.01395608e-01 -3.23770032e-03 6.85117920e+01] [ 5.01391867e-01 8.65218147e-01 -1.93766359e-03 2.02741120e+01] [ 3.77285309e-03 5.31333546e-05 9.99992881e-01 2.57562423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13088847899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:68.54, Y:20.29, Z:0.26 [[ 8.64972861e-01 -5.01808202e-01 -3.23716819e-03 6.85362044e+01] [ 5.01804460e-01 8.64978916e-01 -1.93855219e-03 2.02881490e+01] [ 3.77286362e-03 5.23695933e-05 9.99992881e-01 2.57592339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.160888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:68.56, Y:20.30, Z:0.26 [[ 8.64668690e-01 -5.02332142e-01 -3.23663664e-03 6.85598019e+01] [ 5.02328401e-01 8.64674746e-01 -1.93943926e-03 2.03014760e+01] [ 3.77288065e-03 5.11178982e-05 9.99992881e-01 2.56666177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.190888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:68.58, Y:20.32, Z:0.26 [[ 8.64151627e-01 -5.03221115e-01 -3.23640643e-03 6.85846737e+01] [ 5.03217378e-01 8.64157686e-01 -1.93982335e-03 2.03150761e+01] [ 3.77292556e-03 4.76855465e-05 9.99992881e-01 2.56438343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.60, Y:20.33, Z:0.25 [[ 8.61769238e-01 -5.07290163e-01 -3.23587243e-03 6.86008166e+01] [ 5.07286452e-01 8.61775312e-01 -1.94071372e-03 2.03289384e+01] [ 3.77309996e-03 3.09331325e-05 9.99992881e-01 2.51825908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:20.34, Z:0.26 [[ 8.64234401e-01 -5.03079199e-01 -3.19686929e-03 6.86338252e+01] [ 5.03075216e-01 8.64240305e-01 -2.00567698e-03 2.03434615e+01] [ 3.77187766e-03 1.25109337e-04 9.99992879e-01 2.57176760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:68.66, Y:20.36, Z:0.26 [[ 8.64392875e-01 -5.02806608e-01 -3.23614140e-03 6.86589494e+01] [ 5.02802867e-01 8.64398931e-01 -1.94017247e-03 2.03563647e+01] [ 3.77284870e-03 4.99300893e-05 9.99992882e-01 2.58191136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:68.68, Y:20.37, Z:0.26 [[ 8.64327184e-01 -5.02919526e-01 -3.23559463e-03 6.86826474e+01] [ 5.02915783e-01 8.64333239e-01 -1.94108387e-03 2.03699585e+01] [ 3.77284097e-03 5.04999518e-05 9.99992882e-01 2.57729232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:20.38, Z:0.26 [[ 8.63892359e-01 -5.03666085e-01 -3.23535788e-03 6.87070361e+01] [ 5.03662345e-01 8.63898416e-01 -1.94147841e-03 2.03842745e+01] [ 3.77287737e-03 4.77004284e-05 9.99992882e-01 2.58003345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:20.40, Z:0.26 [[ 8.63087650e-01 -5.05043805e-01 -3.23483977e-03 6.87313025e+01] [ 5.05040072e-01 8.63093711e-01 -1.94234128e-03 2.03985745e+01] [ 3.77293729e-03 4.26870626e-05 9.99992882e-01 2.57928929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:20.41, Z:0.26 [[ 8.62392871e-01 -5.06229271e-01 -3.23430297e-03 6.87554762e+01] [ 5.06225543e-01 8.62398935e-01 -1.94323474e-03 2.04124121e+01] [ 3.77298174e-03 3.85450079e-05 9.99992882e-01 2.58058877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:68.78, Y:20.43, Z:0.26 [[ 8.61637068e-01 -5.07514636e-01 -3.23376931e-03 6.87801110e+01] [ 5.07510914e-01 8.61643135e-01 -1.94412240e-03 2.04256982e+01] [ 3.77302570e-03 3.39547104e-05 9.99992882e-01 2.56322941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:68.78, Y:20.44, Z:0.25 [[ 8.54174058e-01 -5.19977147e-01 -3.23179658e-03 6.87834996e+01] [ 5.19973501e-01 8.54180172e-01 -1.94740218e-03 2.04400052e+01] [ 3.77314119e-03 -1.70281631e-05 9.99992882e-01 2.51220845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.83, Y:20.45, Z:0.26 [[ 8.59576538e-01 -5.10997375e-01 -3.13986037e-03 6.88297406e+01] [ 5.10993100e-01 8.59582249e-01 -2.09957053e-03 2.04517021e+01] [ 3.77184327e-03 2.00294580e-04 9.99992867e-01 2.59266576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52088847899999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:68.85, Y:20.46, Z:0.26 [[ 8.58527531e-01 -5.12757282e-01 -3.23251479e-03 6.88540248e+01] [ 5.12753591e-01 8.58533616e-01 -1.94563266e-03 2.04649298e+01] [ 3.77285992e-03 1.28956413e-05 9.99992883e-01 2.60685346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.550888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:68.88, Y:20.48, Z:0.26 [[ 8.57051933e-01 -5.15219893e-01 -3.23197636e-03 6.88784682e+01] [ 5.15216216e-01 8.57058027e-01 -1.94652665e-03 2.04790604e+01] [ 3.77288054e-03 3.10780057e-06 9.99992883e-01 2.60313641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.580888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:68.90, Y:20.49, Z:0.26 [[ 8.56483765e-01 -5.16163849e-01 -3.23144008e-03 6.89025146e+01] [ 5.16160175e-01 8.56489861e-01 -1.94741654e-03 2.04940286e+01] [ 3.77288167e-03 -1.00272405e-08 9.99992883e-01 2.59500488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:68.93, Y:20.51, Z:0.26 [[ 8.56112208e-01 -5.16779884e-01 -3.23090654e-03 6.89266331e+01] [ 5.16776212e-01 8.56118304e-01 -1.94830131e-03 2.05086930e+01] [ 3.77288115e-03 -1.69110399e-06 9.99992883e-01 2.59330089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:20.52, Z:0.26 [[ 8.55840847e-01 -5.17229165e-01 -3.23037359e-03 6.89501400e+01] [ 5.17225492e-01 8.55846944e-01 -1.94918457e-03 2.05225222e+01] [ 3.77288047e-03 -2.63979076e-06 9.99992883e-01 2.59758720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.97, Y:20.54, Z:0.26 [[ 8.55287463e-01 -5.18143727e-01 -3.23014252e-03 6.89737574e+01] [ 5.18140059e-01 8.55293563e-01 -1.94956742e-03 2.05352915e+01] [ 3.77287623e-03 -6.22566082e-06 9.99992883e-01 2.59740696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:20.55, Z:0.26 [[ 8.54717490e-01 -5.19083405e-01 -3.22978427e-03 6.89977017e+01] [ 5.19079741e-01 8.54723592e-01 -1.95016073e-03 2.05493869e+01] [ 3.77286889e-03 -9.67910071e-06 9.99992883e-01 2.59624537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:20.56, Z:0.26 [[ 8.54240165e-01 -5.19868553e-01 -3.22926240e-03 6.90215960e+01] [ 5.19864892e-01 8.54246269e-01 -1.95102452e-03 2.05633874e+01] [ 3.77286165e-03 -1.21366435e-05 9.99992883e-01 2.59104670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.05, Y:20.58, Z:0.26 [[ 8.54086385e-01 -5.20121161e-01 -3.22874217e-03 6.90452637e+01] [ 5.20117498e-01 8.54092488e-01 -1.95188507e-03 2.05785342e+01] [ 3.77286116e-03 -1.22468371e-05 9.99992883e-01 2.58331906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:20.59, Z:0.26 [[ 8.54552194e-01 -5.19355491e-01 -3.22819927e-03 6.90690090e+01] [ 5.19351820e-01 8.54558291e-01 -1.95278254e-03 2.05935617e+01] [ 3.77287279e-03 -7.81656835e-06 9.99992883e-01 2.57473212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:69.09, Y:20.61, Z:0.26 [[ 8.55196149e-01 -5.18294441e-01 -3.22803044e-03 6.90930806e+01] [ 5.18290761e-01 8.55202241e-01 -1.95306159e-03 2.06084251e+01] [ 3.77287983e-03 -2.80760727e-06 9.99992883e-01 2.57093453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:69.12, Y:20.62, Z:0.26 [[ 8.55056330e-01 -5.18525078e-01 -3.22750388e-03 6.91175002e+01] [ 5.18521396e-01 8.55062421e-01 -1.95393136e-03 2.06233058e+01] [ 3.77287969e-03 -2.80843653e-06 9.99992883e-01 2.57200913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:20.64, Z:0.26 [[ 8.56103000e-01 -5.16795163e-01 -3.22697665e-03 6.91414900e+01] [ 5.16791466e-01 8.56109081e-01 -1.95480171e-03 2.06378538e+01] [ 3.77287608e-03 5.83761049e-06 9.99992883e-01 2.55719439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:20.65, Z:0.26 [[ 8.56408566e-01 -5.16288637e-01 -3.22673223e-03 6.91656554e+01] [ 5.16284935e-01 8.56414645e-01 -1.95520507e-03 2.06528854e+01] [ 3.77287090e-03 8.54113130e-06 9.99992883e-01 2.56999687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:20.67, Z:0.26 [[ 8.56773515e-01 -5.15682786e-01 -3.22620429e-03 6.91886471e+01] [ 5.15679077e-01 8.56779589e-01 -1.95607583e-03 2.06673005e+01] [ 3.77286062e-03 1.22279112e-05 9.99992883e-01 2.56811786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.970888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.21, Y:20.68, Z:0.26 [[ 8.56845796e-01 -5.15562678e-01 -3.22597546e-03 6.92133022e+01] [ 5.15558966e-01 8.56851868e-01 -1.95645315e-03 2.06827973e+01] [ 3.77285732e-03 1.31980829e-05 9.99992883e-01 2.57990030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:20.70, Z:0.26 [[ 8.57431269e-01 -5.14588394e-01 -3.22551772e-03 6.92374478e+01] [ 5.14584673e-01 8.57437335e-01 -1.95720751e-03 2.06975730e+01] [ 3.77283559e-03 1.83689361e-05 9.99992883e-01 2.59285060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.26, Y:20.71, Z:0.26 [[ 8.57810916e-01 -5.13955281e-01 -3.22527527e-03 6.92616797e+01] [ 5.13951553e-01 8.57816979e-01 -1.95760696e-03 2.07121277e+01] [ 3.77281832e-03 2.16213845e-05 9.99992883e-01 2.59764692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:20.73, Z:0.26 [[ 8.58014105e-01 -5.13616002e-01 -3.22475736e-03 6.92857765e+01] [ 5.13612268e-01 8.58020164e-01 -1.95845974e-03 2.07268130e+01] [ 3.77280310e-03 2.41111366e-05 9.99992883e-01 2.60643368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:20.74, Z:0.26 [[ 8.58702627e-01 -5.12464050e-01 -3.22422341e-03 6.93082408e+01] [ 5.12460305e-01 8.58708680e-01 -1.95933839e-03 2.07410313e+01] [ 3.77275911e-03 3.02025124e-05 9.99992883e-01 2.60401828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:20.76, Z:0.26 [[ 8.58967417e-01 -5.12020100e-01 -3.22399192e-03 6.93323457e+01] [ 5.12016351e-01 8.58973466e-01 -1.95971922e-03 2.07561009e+01] [ 3.77273915e-03 3.25983790e-05 9.99992883e-01 2.59567592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:20.77, Z:0.26 [[ 8.59203016e-01 -5.11624654e-01 -3.22347094e-03 6.93558021e+01] [ 5.11620899e-01 8.59209062e-01 -1.96057579e-03 2.07707946e+01] [ 3.77271435e-03 3.53375306e-05 9.99992883e-01 2.58960440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:20.78, Z:0.26 [[ 8.60467912e-01 -5.09494440e-01 -3.22293780e-03 6.93781092e+01] [ 5.09490667e-01 8.60473947e-01 -1.96145181e-03 2.07839739e+01] [ 3.77260280e-03 4.57096187e-05 9.99992883e-01 2.58400459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:20.80, Z:0.25 [[ 8.62595284e-01 -5.05884416e-01 -3.21455827e-03 6.94120495e+01] [ 5.05880566e-01 8.62601271e-01 -1.97521957e-03 2.07965290e+01] [ 3.77211485e-03 7.76325266e-05 9.99992883e-01 2.53855808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:69.43, Y:20.81, Z:0.26 [[ 8.61444501e-01 -5.07841341e-01 -3.24714878e-03 6.94284701e+01] [ 5.07837705e-01 8.61450621e-01 -1.92164528e-03 2.08147921e+01] [ 3.77314925e-03 6.36617816e-06 9.99992882e-01 2.55566820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:20.83, Z:0.26 [[ 8.61688970e-01 -5.07426581e-01 -3.22227294e-03 6.94521538e+01] [ 5.07422789e-01 8.61694993e-01 -1.96248970e-03 2.08295245e+01] [ 3.77243590e-03 5.60010071e-05 9.99992883e-01 2.56129777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.300888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:69.47, Y:20.84, Z:0.26 [[ 8.61989862e-01 -5.06915278e-01 -3.22173368e-03 6.94746781e+01] [ 5.06911479e-01 8.61995880e-01 -1.96337458e-03 2.08438116e+01] [ 3.77238573e-03 5.92752042e-05 9.99992883e-01 2.55504286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:20.86, Z:0.26 [[ 8.62119336e-01 -5.06695048e-01 -3.22149950e-03 6.94989634e+01] [ 5.06691246e-01 8.62125353e-01 -1.96375874e-03 2.08588728e+01] [ 3.77236323e-03 6.06887827e-05 9.99992883e-01 2.56622223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:20.87, Z:0.26 [[ 8.62385713e-01 -5.06241551e-01 -3.22095199e-03 6.95229787e+01] [ 5.06237742e-01 8.62391726e-01 -1.96465636e-03 2.08721098e+01] [ 3.77231303e-03 6.37241103e-05 9.99992883e-01 2.56760975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:69.55, Y:20.89, Z:0.26 [[ 8.62318334e-01 -5.06356316e-01 -3.22071508e-03 6.95462759e+01] [ 5.06352507e-01 8.62324346e-01 -1.96504466e-03 2.08855351e+01] [ 3.77231380e-03 6.36768795e-05 9.99992883e-01 2.56800345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:69.57, Y:20.90, Z:0.26 [[ 8.62120254e-01 -5.06693494e-01 -3.22048809e-03 6.95699825e+01] [ 5.06689686e-01 8.62126266e-01 -1.96541659e-03 2.08998855e+01] [ 3.77233118e-03 6.26373469e-05 9.99992883e-01 2.57382464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:69.59, Y:20.91, Z:0.26 [[ 8.61768380e-01 -5.07291721e-01 -3.21997385e-03 6.95938157e+01] [ 5.07287914e-01 8.61774394e-01 -1.96625873e-03 2.09149493e+01] [ 3.77235778e-03 6.10057805e-05 9.99992883e-01 2.58296713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:69.62, Y:20.93, Z:0.26 [[ 8.61058541e-01 -5.08495648e-01 -3.21944004e-03 6.96178388e+01] [ 5.08491846e-01 8.61064558e-01 -1.96713236e-03 2.09294737e+01] [ 3.77242396e-03 5.67571147e-05 9.99992883e-01 2.58116862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:69.64, Y:20.94, Z:0.26 [[ 8.60583169e-01 -5.09299760e-01 -3.21927413e-03 6.96408585e+01] [ 5.09295963e-01 8.60589189e-01 -1.96740384e-03 2.09429221e+01] [ 3.77247082e-03 5.35513150e-05 9.99992883e-01 2.58035289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:20.96, Z:0.26 [[ 8.60113247e-01 -5.10092973e-01 -3.21904773e-03 6.96648768e+01] [ 5.10089180e-01 8.60119269e-01 -1.96777421e-03 2.09568274e+01] [ 3.77251278e-03 5.05072480e-05 9.99992883e-01 2.58875027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:69.69, Y:20.97, Z:0.26 [[ 8.59139510e-01 -5.11731319e-01 -3.21851458e-03 6.96892464e+01] [ 5.11727535e-01 8.59145538e-01 -1.96864584e-03 2.09701220e+01] [ 3.77259018e-03 4.43388937e-05 9.99992883e-01 2.59283344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:20.98, Z:0.26 [[ 8.58349841e-01 -5.13054767e-01 -3.21797078e-03 6.97132443e+01] [ 5.13050989e-01 8.58355873e-01 -1.96953436e-03 2.09843299e+01] [ 3.77264310e-03 3.95664151e-05 9.99992883e-01 2.58918090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.74, Y:21.00, Z:0.26 [[ 8.57795600e-01 -5.13980892e-01 -3.21743048e-03 6.97376714e+01] [ 5.13977116e-01 8.57801633e-01 -1.97041659e-03 2.09989302e+01] [ 3.77267359e-03 3.65290451e-05 9.99992883e-01 2.58376522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:21.01, Z:0.26 [[ 8.56747319e-01 -5.15726365e-01 -3.21689358e-03 6.97607112e+01] [ 5.15722598e-01 8.56753357e-01 -1.97129274e-03 2.10140199e+01] [ 3.77273201e-03 2.98750508e-05 9.99992883e-01 2.55552723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:21.03, Z:0.26 [[ 8.55861885e-01 -5.17194438e-01 -3.21672730e-03 6.97851189e+01] [ 5.17190681e-01 8.55867929e-01 -1.97156403e-03 2.10288916e+01] [ 3.77277569e-03 2.37251188e-05 9.99992883e-01 2.55952928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.720888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.81, Y:21.04, Z:0.25 [[ 8.54972879e-01 -5.18662735e-01 -3.21619257e-03 6.98092078e+01] [ 5.18658984e-01 8.54978928e-01 -1.97243596e-03 2.10430042e+01] [ 3.77280590e-03 1.82720766e-05 9.99992883e-01 2.54605298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:21.06, Z:0.26 [[ 8.53279301e-01 -5.21444218e-01 -3.21899206e-03 6.98328258e+01] [ 5.21440504e-01 8.53285373e-01 -1.96787308e-03 2.10560998e+01] [ 3.77285488e-03 6.32526170e-07 9.99992883e-01 2.56610428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:21.07, Z:0.26 [[ 8.52172523e-01 -5.23251041e-01 -3.21550312e-03 6.98570462e+01] [ 5.23247320e-01 8.52178589e-01 -1.97355758e-03 2.10706267e+01] [ 3.77284897e-03 -6.91844339e-07 9.99992883e-01 2.57546285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:21.08, Z:0.26 [[ 8.49777131e-01 -5.27132328e-01 -3.21498333e-03 6.98818369e+01] [ 5.27128630e-01 8.49783213e-01 -1.97440398e-03 2.10849717e+01] [ 3.77281103e-03 -1.69064030e-05 9.99992883e-01 2.59523930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:69.91, Y:21.10, Z:0.26 [[ 8.48549539e-01 -5.29106178e-01 -3.21451991e-03 6.99057789e+01] [ 5.29102492e-01 8.48555627e-01 -1.97515818e-03 2.10996728e+01] [ 3.77276735e-03 -2.47909327e-05 9.99992883e-01 2.59356112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:21.11, Z:0.26 [[ 8.47540166e-01 -5.30721523e-01 -3.21435578e-03 6.99287670e+01] [ 5.30717848e-01 8.47546261e-01 -1.97542525e-03 2.11145232e+01] [ 3.77271592e-03 -3.16637418e-05 9.99992883e-01 2.59954878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:21.13, Z:0.26 [[ 8.46569251e-01 -5.32268891e-01 -3.21416988e-03 6.99523327e+01] [ 5.32265226e-01 8.46575352e-01 -1.97572768e-03 2.11298449e+01] [ 3.77265538e-03 -3.82005589e-05 9.99992883e-01 2.61412583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.97, Y:21.15, Z:0.26 [[ 8.45206797e-01 -5.34429737e-01 -3.21363000e-03 6.99749164e+01] [ 5.34426084e-01 8.45212905e-01 -1.97660542e-03 2.11450479e+01] [ 3.77255827e-03 -4.68073603e-05 9.99992883e-01 2.58900108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:21.16, Z:0.26 [[ 8.44558004e-01 -5.35454435e-01 -3.21339629e-03 6.99987288e+01] [ 5.35450788e-01 8.44564116e-01 -1.97698530e-03 2.11599704e+01] [ 3.77250474e-03 -5.09368139e-05 9.99992883e-01 2.60325704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:70.02, Y:21.17, Z:0.26 [[ 8.44108325e-01 -5.36163047e-01 -3.21285350e-03 7.00216006e+01] [ 5.36159401e-01 8.44114438e-01 -1.97786702e-03 2.11746561e+01] [ 3.77247523e-03 -5.30675934e-05 9.99992883e-01 2.60225066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:21.19, Z:0.26 [[ 8.43741306e-01 -5.36740430e-01 -3.21248230e-03 7.00449820e+01] [ 5.36736786e-01 8.43747420e-01 -1.97846973e-03 2.11894967e+01] [ 3.77244835e-03 -5.49407915e-05 9.99992883e-01 2.60463925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:21.21, Z:0.26 [[ 8.43774913e-01 -5.36687599e-01 -3.21194404e-03 7.00682429e+01] [ 5.36683952e-01 8.43781025e-01 -1.97934318e-03 2.12051869e+01] [ 3.77246638e-03 -5.36786998e-05 9.99992883e-01 2.61056284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:21.22, Z:0.26 [[ 8.43909755e-01 -5.36475547e-01 -3.21140485e-03 7.00915075e+01] [ 5.36471895e-01 8.43915864e-01 -1.98021762e-03 2.12209308e+01] [ 3.77249383e-03 -5.17034722e-05 9.99992883e-01 2.61443595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:70.11, Y:21.24, Z:0.26 [[ 8.44355558e-01 -5.35773630e-01 -3.21085915e-03 7.01135806e+01] [ 5.35769969e-01 8.44361661e-01 -1.98110205e-03 2.12367308e+01] [ 3.77254861e-03 -4.75273786e-05 9.99992883e-01 2.60983725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:70.14, Y:21.25, Z:0.26 [[ 8.45392128e-01 -5.34136538e-01 -3.21062277e-03 7.01361228e+01] [ 5.34132865e-01 8.45398224e-01 -1.98148507e-03 2.12545908e+01] [ 3.77263836e-03 -3.97672602e-05 9.99992883e-01 2.61088943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:21.27, Z:0.26 [[ 8.46000745e-01 -5.33172049e-01 -3.21007933e-03 7.01585578e+01] [ 5.33168365e-01 8.46006835e-01 -1.98236508e-03 2.12695190e+01] [ 3.77269070e-03 -3.44304137e-05 9.99992883e-01 2.61578158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200888479 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:70.20, Y:21.28, Z:0.26 [[ 8.49536457e-01 -5.27520147e-01 -3.20985350e-03 7.01969351e+01] [ 5.27516421e-01 8.49542520e-01 -1.98273066e-03 2.12840440e+01] [ 3.77283741e-03 -8.84845418e-06 9.99992883e-01 2.60889358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:21.30, Z:0.26 [[ 8.48254096e-01 -5.29579283e-01 -3.28202177e-03 7.02050549e+01] [ 5.29576020e-01 8.48260431e-01 -1.86558187e-03 2.13029818e+01] [ 3.77198271e-03 -1.55592563e-04 9.99992874e-01 2.63608712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260888479 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:70.25, Y:21.32, Z:0.26 [[ 8.52265730e-01 -5.23099251e-01 -3.20914191e-03 7.02468110e+01] [ 5.23095491e-01 8.52271772e-01 -1.98349587e-03 2.13191760e+01] [ 3.77262627e-03 1.17778926e-05 9.99992884e-01 2.61181452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:21.34, Z:0.26 [[ 8.49872885e-01 -5.26977376e-01 -3.30518614e-03 7.02512480e+01] [ 5.26974241e-01 8.49879291e-01 -1.82750188e-03 2.13364401e+01] [ 3.77206140e-03 -1.88603666e-04 9.99992868e-01 2.64455944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:70.27, Y:21.35, Z:0.26 [[ 8.50757991e-01 -5.25547854e-01 -3.20836254e-03 7.02730482e+01] [ 5.25544109e-01 8.50764041e-01 -1.98407157e-03 2.13525890e+01] [ 3.77228403e-03 1.82871419e-06 9.99992885e-01 2.64620715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:70.29, Y:21.37, Z:0.26 [[ 8.53084730e-01 -5.21762544e-01 -3.20812620e-03 7.02949808e+01] [ 5.21758770e-01 8.53090762e-01 -1.98445363e-03 2.13713137e+01] [ 3.77223640e-03 1.90391082e-05 9.99992885e-01 2.64443227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:70.32, Y:21.39, Z:0.26 [[ 8.54159710e-01 -5.20000866e-01 -3.20758350e-03 7.03178849e+01] [ 5.19997077e-01 8.54165733e-01 -1.98533045e-03 2.13883449e+01] [ 3.77218146e-03 2.78552425e-05 9.99992885e-01 2.64238197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.410888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.34, Y:21.41, Z:0.26 [[ 8.55796038e-01 -5.17303448e-01 -3.20703613e-03 7.03400790e+01] [ 5.17299636e-01 8.55802046e-01 -1.98621426e-03 2.14067680e+01] [ 3.77206356e-03 4.07956672e-05 9.99992885e-01 2.63304890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.440888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:70.36, Y:21.42, Z:0.26 [[ 8.56635066e-01 -5.15912865e-01 -3.20625120e-03 7.03621995e+01] [ 5.15909039e-01 8.56641064e-01 -1.98748097e-03 2.14234091e+01] [ 3.77197345e-03 4.84119171e-05 9.99992885e-01 2.64084218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.470888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:70.38, Y:21.44, Z:0.26 [[ 8.53395860e-01 -5.21253513e-01 -3.20636160e-03 7.03753080e+01] [ 5.21249726e-01 8.53401883e-01 -1.98730286e-03 2.14410137e+01] [ 3.77220362e-03 2.46409326e-05 9.99992885e-01 2.58738416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.500888479 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:70.42, Y:21.46, Z:0.26 [[ 8.56096210e-01 -5.16806847e-01 -3.15611232e-03 7.04157845e+01] [ 5.16802730e-01 8.56102017e-01 -2.06760986e-03 2.14582906e+01] [ 3.77050906e-03 1.38985501e-04 9.99992882e-01 2.59643569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:70.42, Y:21.47, Z:0.26 [[ 8.51356818e-01 -5.24576955e-01 -3.25367742e-03 7.04163470e+01] [ 5.24573480e-01 8.51363032e-01 -1.91097690e-03 2.14709827e+01] [ 3.77251512e-03 -7.98696700e-05 9.99992881e-01 2.58107910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.560888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.46, Y:21.49, Z:0.27 [[ 8.57777383e-01 -5.14011784e-01 -3.13815616e-03 7.04568785e+01] [ 5.14007536e-01 8.57783103e-01 -2.09796208e-03 2.14853894e+01] [ 3.77023456e-03 1.86548508e-04 9.99992875e-01 2.65428740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:70.48, Y:21.50, Z:0.27 [[ 8.57512131e-01 -5.14453719e-01 -3.21181300e-03 7.04785532e+01] [ 5.14449917e-01 8.57518145e-01 -1.97838374e-03 2.15015769e+01] [ 3.77197480e-03 4.41711321e-05 9.99992885e-01 2.66545997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:70.51, Y:21.52, Z:0.27 [[ 8.57758569e-01 -5.14042725e-01 -3.21158144e-03 7.05065276e+01] [ 5.14038919e-01 8.57764580e-01 -1.97875957e-03 2.15167575e+01] [ 3.77194777e-03 4.64201230e-05 9.99992885e-01 2.69491061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:70.53, Y:21.53, Z:0.27 [[ 8.56345607e-01 -5.16393045e-01 -3.22870086e-03 7.05250342e+01] [ 5.16389360e-01 8.56351693e-01 -1.95096364e-03 2.15317082e+01] [ 3.77236750e-03 3.43237274e-06 9.99992885e-01 2.69236186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:70.55, Y:21.55, Z:0.27 [[ 8.55546795e-01 -5.17715533e-01 -3.21077046e-03 7.05483129e+01] [ 5.17711747e-01 8.55552819e-01 -1.98003903e-03 2.15469651e+01] [ 3.77208068e-03 3.17624600e-05 9.99992885e-01 2.68670286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:70.57, Y:21.56, Z:0.27 [[ 8.53889895e-01 -5.20443791e-01 -3.21060060e-03 7.05713726e+01] [ 5.20440024e-01 8.53895931e-01 -1.98031442e-03 2.15631880e+01] [ 3.77216113e-03 2.00454168e-05 9.99992885e-01 2.69174710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:70.60, Y:21.58, Z:0.27 [[ 8.53745904e-01 -5.20679965e-01 -3.21005376e-03 7.05956600e+01] [ 5.20676196e-01 8.53751939e-01 -1.98120043e-03 2.15782676e+01] [ 3.77216100e-03 2.00431699e-05 9.99992885e-01 2.69282151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77088847899999 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:70.62, Y:21.59, Z:0.26 [[ 8.53321895e-01 -5.21374570e-01 -3.20950550e-03 7.06233158e+01] [ 5.21370803e-01 8.53327931e-01 -1.98208821e-03 2.15935661e+01] [ 3.77217108e-03 1.80168032e-05 9.99992885e-01 2.64844809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.800888479 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:70.65, Y:21.61, Z:0.27 [[ 8.50938537e-01 -5.25255359e-01 -3.22726345e-03 7.06463561e+01] [ 5.25251728e-01 8.50944656e-01 -1.95337188e-03 2.16114978e+01] [ 3.77224163e-03 -3.29262946e-05 9.99992885e-01 2.67784626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.830888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:70.67, Y:21.63, Z:0.27 [[ 8.50569928e-01 -5.25852093e-01 -3.22071212e-03 7.06652350e+01] [ 5.25848426e-01 8.50576026e-01 -1.96391870e-03 2.16274005e+01] [ 3.77219127e-03 -2.31562110e-05 9.99992885e-01 2.68658908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860888479 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:70.69, Y:21.64, Z:0.27 [[ 8.50235877e-01 -5.26392146e-01 -3.20340591e-03 7.06886424e+01] [ 5.26388378e-01 8.50241912e-01 -1.99175289e-03 2.16434645e+01] [ 3.77211304e-03 7.22411949e-06 9.99992886e-01 2.69115599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890888479 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:70.71, Y:21.66, Z:0.27 [[ 8.50073217e-01 -5.26654790e-01 -3.20285691e-03 7.07115355e+01] [ 5.26651021e-01 8.50079250e-01 -1.99263532e-03 2.16587061e+01] [ 3.77211314e-03 7.09805968e-06 9.99992886e-01 2.69287640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:70.74, Y:21.67, Z:0.27 [[ 8.51688126e-01 -5.24039196e-01 -3.20268686e-03 7.07396339e+01] [ 5.24035407e-01 8.51694147e-01 -1.99290860e-03 2.16739095e+01] [ 3.77207187e-03 1.90152781e-05 9.99992886e-01 2.67756785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:70.76, Y:21.69, Z:0.27 [[ 8.50389425e-01 -5.26143932e-01 -3.22312423e-03 7.07572452e+01] [ 5.26140282e-01 8.50395532e-01 -1.96005285e-03 2.16903063e+01] [ 3.77220036e-03 -2.90072766e-05 9.99992885e-01 2.69042054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:70.78, Y:21.71, Z:0.27 [[ 8.50526111e-01 -5.25923077e-01 -3.20191661e-03 7.07790444e+01] [ 5.25919297e-01 8.50532138e-01 -1.99410573e-03 2.17058666e+01] [ 3.77207920e-03 1.20892586e-05 9.99992886e-01 2.67686040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010888479 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:70.80, Y:21.72, Z:0.27 [[ 8.50816878e-01 -5.25452558e-01 -3.20153834e-03 7.08013958e+01] [ 5.25448772e-01 8.50822901e-01 -1.99471286e-03 2.17240347e+01] [ 3.77206911e-03 1.48909857e-05 9.99992886e-01 2.67243214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:70.83, Y:21.74, Z:0.27 [[ 8.52791966e-01 -5.22240956e-01 -3.20105963e-03 7.08288512e+01] [ 5.22237144e-01 8.52797973e-01 -1.99548078e-03 2.17385734e+01] [ 3.77197896e-03 3.00177359e-05 9.99992886e-01 2.68512958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070888479 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:70.85, Y:21.75, Z:0.27 [[ 8.52827995e-01 -5.22182028e-01 -3.21573159e-03 7.08515155e+01] [ 5.22178305e-01 8.52834057e-01 -1.97193950e-03 2.17547882e+01] [ 3.77219679e-03 2.53993614e-06 9.99992885e-01 2.68768086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100888479 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:70.87, Y:21.77, Z:0.27 [[ 8.52017658e-01 -5.23503180e-01 -3.21404928e-03 7.08694180e+01] [ 5.23499456e-01 8.52023721e-01 -1.97463661e-03 2.17723880e+01] [ 3.77217477e-03 -1.27787168e-07 9.99992885e-01 2.68330474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13088847899999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:70.89, Y:21.79, Z:0.27 [[ 8.52398866e-01 -5.22882333e-01 -3.19984832e-03 7.08918479e+01] [ 5.22878519e-01 8.52404872e-01 -1.99738679e-03 2.17874503e+01] [ 3.77196457e-03 2.94382872e-05 9.99992886e-01 2.69049057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.160888479 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:70.92, Y:21.80, Z:0.27 [[ 8.52794800e-01 -5.22236336e-01 -3.19961724e-03 7.09154684e+01] [ 5.22232516e-01 8.52800802e-01 -1.99775689e-03 2.18034227e+01] [ 3.77193739e-03 3.27325238e-05 9.99992886e-01 2.70271055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.190888479 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:70.94, Y:21.82, Z:0.27 [[ 8.53427634e-01 -5.21201535e-01 -3.19904601e-03 7.09381072e+01] [ 5.21197704e-01 8.53433629e-01 -1.99867120e-03 2.18191018e+01] [ 3.77188394e-03 3.83857925e-05 9.99992886e-01 2.70071256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.220888479 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:70.96, Y:21.84, Z:0.27 [[ 8.54712599e-01 -5.19091650e-01 -3.19865804e-03 7.09602540e+01] [ 5.19087803e-01 8.54718583e-01 -1.99929190e-03 2.18365556e+01] [ 3.77176821e-03 4.84356053e-05 9.99992886e-01 2.68840681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250888479 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:70.98, Y:21.85, Z:0.27 [[ 8.55738482e-01 -5.17398707e-01 -3.19808666e-03 7.09830180e+01] [ 5.17394844e-01 8.55744456e-01 -2.00020548e-03 2.18518348e+01] [ 3.77164866e-03 5.69792540e-05 9.99992886e-01 2.67953083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280888479 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:71.01, Y:21.87, Z:0.27 [[ 8.58352654e-01 -5.13050188e-01 -3.19783874e-03 7.10052500e+01] [ 5.13046293e-01 8.58358607e-01 -2.00060177e-03 2.18672520e+01] [ 3.77130152e-03 7.65825300e-05 9.99992886e-01 2.66537242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310888479 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:71.03, Y:21.88, Z:0.27 [[ 8.59491487e-01 -5.11140058e-01 -3.19759771e-03 7.10290658e+01] [ 5.11136148e-01 8.59497431e-01 -2.00098693e-03 2.18829312e+01] [ 3.77111159e-03 8.54234547e-05 9.99992886e-01 2.66327650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340888479 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:71.05, Y:21.90, Z:0.27 [[ 8.60610727e-01 -5.09253332e-01 -3.19703928e-03 7.10519427e+01] [ 5.09249406e-01 8.60616660e-01 -2.00187876e-03 2.18979854e+01] [ 3.77088869e-03 9.47479786e-05 9.99992886e-01 2.66191743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370888479 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:71.08, Y:21.91, Z:0.27 [[ 8.61262459e-01 -5.08150329e-01 -3.19679727e-03 7.10755007e+01] [ 5.08146394e-01 8.61268386e-01 -2.00226515e-03 2.19135865e+01] [ 3.77075212e-03 1.00034801e-04 9.99992886e-01 2.66256918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400888479 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:71.10, Y:21.93, Z:0.27 [[ 8.62687815e-01 -5.05726722e-01 -3.19625157e-03 7.10983313e+01] [ 5.05722767e-01 8.62693729e-01 -2.00313588e-03 2.19292526e+01] [ 3.77042553e-03 1.11663727e-04 9.99992886e-01 2.66707958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:71.12, Y:21.94, Z:0.27 [[ 8.63081885e-01 -5.05053905e-01 -3.19569443e-03 7.11218362e+01] [ 5.05049942e-01 8.63087794e-01 -2.00402431e-03 2.19446716e+01] [ 3.77030516e-03 1.15651793e-04 9.99992886e-01 2.66947046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460888479 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:71.15, Y:21.96, Z:0.27 [[ 8.63359252e-01 -5.04579620e-01 -3.19512802e-03 7.11454961e+01] [ 5.04575651e-01 8.63365156e-01 -2.00492697e-03 2.19591242e+01] [ 3.77020749e-03 1.18788445e-04 9.99992886e-01 2.67401006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490888479 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:71.17, Y:21.97, Z:0.27 [[ 8.63658649e-01 -5.04066992e-01 -3.19456246e-03 7.11690025e+01] [ 5.04063015e-01 8.63664549e-01 -2.00582770e-03 2.19725082e+01] [ 3.77010188e-03 1.22089654e-04 9.99992886e-01 2.67696934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52088847899999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:71.19, Y:21.99, Z:0.27 [[ 8.63403701e-01 -5.04503564e-01 -3.19431736e-03 7.11931971e+01] [ 5.04499590e-01 8.63409601e-01 -2.00621795e-03 2.19873463e+01] [ 3.77014839e-03 1.20644203e-04 9.99992886e-01 2.68080021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.550888479 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:71.22, Y:22.00, Z:0.27 [[ 8.63003573e-01 -5.05187721e-01 -3.19375144e-03 7.12169042e+01] [ 5.05183748e-01 8.63009474e-01 -2.00711845e-03 2.20018123e+01] [ 3.77020935e-03 1.18719075e-04 9.99992886e-01 2.68258131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.580888479 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:71.24, Y:22.02, Z:0.27 [[ 8.62777525e-01 -5.05573681e-01 -3.19318526e-03 7.12399865e+01] [ 5.05569707e-01 8.62783426e-01 -2.00801880e-03 2.20154670e+01] [ 3.77022877e-03 1.18095750e-04 9.99992886e-01 2.68396859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610888479 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:71.26, Y:22.03, Z:0.27 [[ 8.62253520e-01 -5.06466853e-01 -3.19294002e-03 7.12649908e+01] [ 5.06462884e-01 8.62259424e-01 -2.00840868e-03 2.20290463e+01] [ 3.77033504e-03 1.14651843e-04 9.99992886e-01 2.67602787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640888479 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:71.29, Y:22.04, Z:0.27 [[ 8.61869474e-01 -5.07120122e-01 -3.19238276e-03 7.12892332e+01] [ 5.07116154e-01 8.61875379e-01 -2.00929406e-03 2.20436974e+01] [ 3.77038955e-03 1.12840345e-04 9.99992886e-01 2.67545811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670888479 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:71.31, Y:22.06, Z:0.27 [[ 8.61746972e-01 -5.07328265e-01 -3.19180587e-03 7.13128015e+01] [ 5.07324295e-01 8.61752876e-01 -2.01021004e-03 2.20575920e+01] [ 3.77038426e-03 1.13011756e-04 9.99992886e-01 2.67848382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700888479 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:71.34, Y:22.07, Z:0.27 [[ 8.61517923e-01 -5.07717128e-01 -3.19155613e-03 7.13365192e+01] [ 5.07713159e-01 8.61523828e-01 -2.01060646e-03 2.20705283e+01] [ 3.77042100e-03 1.11778456e-04 9.99992886e-01 2.68709461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730888479 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:71.35, Y:22.09, Z:0.27 [[ 8.57634573e-01 -5.14249700e-01 -3.19131252e-03 7.13496101e+01] [ 5.14245775e-01 8.57640507e-01 -2.01099306e-03 2.20873555e+01] [ 3.77115147e-03 8.35781893e-05 9.99992886e-01 2.66381821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760888479 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:71.39, Y:22.10, Z:0.27 [[ 8.61065083e-01 -5.08485068e-01 -3.13982715e-03 7.13861670e+01] [ 5.08480804e-01 8.61070783e-01 -2.09256137e-03 2.20991918e+01] [ 3.76764963e-03 2.05289702e-04 9.99992881e-01 2.69037554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790888479 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:71.41, Y:22.11, Z:0.27 [[ 8.59871324e-01 -5.10500853e-01 -3.19144542e-03 7.14114065e+01] [ 5.10496903e-01 8.59877241e-01 -2.01062838e-03 2.21123571e+01] [ 3.77067878e-03 9.96586843e-05 9.99992886e-01 2.68060698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820888479 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:71.44, Y:22.13, Z:0.27 [[ 8.58910668e-01 -5.12115497e-01 -3.19087977e-03 7.14361134e+01] [ 5.12111556e-01 8.58916590e-01 -2.01152565e-03 2.21264974e+01] [ 3.77083303e-03 9.36344393e-05 9.99992886e-01 2.67982955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850888479 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:71.46, Y:22.14, Z:0.27 [[ 8.57848731e-01 -5.13892379e-01 -3.19030065e-03 7.14606778e+01] [ 5.13888446e-01 8.57854659e-01 -2.01244373e-03 2.21405141e+01] [ 3.77099377e-03 8.69136525e-05 9.99992886e-01 2.67808818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88088847899999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:71.49, Y:22.15, Z:0.27 [[ 8.55862128e-01 -5.17194202e-01 -3.18972501e-03 7.14851924e+01] [ 5.17190289e-01 8.55868069e-01 -2.01335570e-03 2.21532001e+01] [ 3.77127968e-03 7.34600936e-05 9.99992886e-01 2.67527483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.910888479 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:71.51, Y:22.17, Z:0.27 [[ 8.54731529e-01 -5.19060536e-01 -3.18947634e-03 7.15091746e+01] [ 5.19056634e-01 8.54737478e-01 -2.01374956e-03 2.21678754e+01] [ 3.77142289e-03 6.56963868e-05 9.99992886e-01 2.67273113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.940888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:71.53, Y:22.18, Z:0.27 [[ 8.53845165e-01 -5.20517306e-01 -3.18890962e-03 7.15324099e+01] [ 5.20513410e-01 8.53851118e-01 -2.01464661e-03 2.21821293e+01] [ 3.77151246e-03 6.03260422e-05 9.99992886e-01 2.67544447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.970888479 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:71.56, Y:22.20, Z:0.27 [[ 8.53097856e-01 -5.21741201e-01 -3.18866399e-03 7.15556007e+01] [ 5.21737313e-01 8.53103813e-01 -2.01503529e-03 2.21955032e+01] [ 3.77158834e-03 5.53772981e-05 9.99992886e-01 2.67911497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:71.58, Y:22.21, Z:0.27 [[ 8.51443719e-01 -5.24436294e-01 -3.18842623e-03 7.15803893e+01] [ 5.24432424e-01 8.51449688e-01 -2.01541143e-03 2.22082712e+01] [ 3.77173942e-03 4.38953086e-05 9.99992886e-01 2.67427080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030888479 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:71.60, Y:22.22, Z:0.27 [[ 8.51012287e-01 -5.25136101e-01 -3.18786166e-03 7.16037029e+01] [ 5.25132232e-01 8.51018257e-01 -2.01630405e-03 2.22220987e+01] [ 3.77176252e-03 4.18506092e-05 9.99992886e-01 2.66753486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:71.63, Y:22.24, Z:0.27 [[ 8.50341799e-01 -5.26221117e-01 -3.18761724e-03 7.16271921e+01] [ 5.26217254e-01 8.50347772e-01 -2.01669039e-03 2.22367088e+01] [ 3.77180829e-03 3.74969407e-05 9.99992886e-01 2.65634961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:71.65, Y:22.25, Z:0.26 [[ 8.49210041e-01 -5.28045594e-01 -3.18706036e-03 7.16509309e+01] [ 5.28041741e-01 8.49216020e-01 -2.01757005e-03 2.22506592e+01] [ 3.77187170e-03 3.04398461e-05 9.99992886e-01 2.64655705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.68, Y:22.26, Z:0.27 [[ 8.48474924e-01 -5.29225989e-01 -3.18681929e-03 7.16754983e+01] [ 5.29222142e-01 8.48480908e-01 -2.01795076e-03 2.22647319e+01] [ 3.77190732e-03 2.56452833e-05 9.99992886e-01 2.65000028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.70, Y:22.28, Z:0.27 [[ 8.47822631e-01 -5.30270340e-01 -3.18625504e-03 7.16993624e+01] [ 5.30266498e-01 8.47828618e-01 -2.01884130e-03 2.22784548e+01] [ 3.77192987e-03 2.20550386e-05 9.99992886e-01 2.65817041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:71.72, Y:22.29, Z:0.27 [[ 8.46651347e-01 -5.32138465e-01 -3.18601031e-03 7.17228348e+01] [ 5.32134634e-01 8.46657342e-01 -2.01922744e-03 2.22911376e+01] [ 3.77196761e-03 1.41952044e-05 9.99992886e-01 2.66251589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.75, Y:22.31, Z:0.27 [[ 8.46425084e-01 -5.32498289e-01 -3.18563491e-03 7.17473948e+01] [ 5.32494459e-01 8.46431079e-01 -2.01981951e-03 2.23055523e+01] [ 3.77197083e-03 1.32929594e-05 9.99992886e-01 2.65922205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:71.77, Y:22.32, Z:0.27 [[ 8.46260543e-01 -5.32759748e-01 -3.18507000e-03 7.17710849e+01] [ 5.32755916e-01 8.46266536e-01 -2.02070993e-03 2.23197558e+01] [ 3.77197107e-03 1.31821979e-05 9.99992886e-01 2.65681932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27088847899999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:71.80, Y:22.33, Z:0.27 [[ 8.47096513e-01 -5.31429541e-01 -3.18450381e-03 7.17953537e+01] [ 5.31425697e-01 8.47102498e-01 -2.02160183e-03 2.23340883e+01] [ 3.77194006e-03 2.01647034e-05 9.99992886e-01 2.65871631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.300888479 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:71.83, Y:22.35, Z:0.27 [[ 8.49133192e-01 -5.28169181e-01 -3.18392947e-03 7.18266868e+01] [ 5.28165310e-01 8.49139161e-01 -2.02250597e-03 2.23489644e+01] [ 3.77182452e-03 3.57358550e-05 9.99992886e-01 2.69121572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.330888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:71.84, Y:22.36, Z:0.27 [[ 8.48441622e-01 -5.29279188e-01 -3.21798467e-03 7.18433865e+01] [ 5.29275527e-01 8.48447724e-01 -1.96884008e-03 2.23649621e+01] [ 3.77235785e-03 -3.27546582e-05 9.99992884e-01 2.67201580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.87, Y:22.38, Z:0.27 [[ 8.49445560e-01 -5.27666664e-01 -3.18314960e-03 7.18674502e+01] [ 5.27662785e-01 8.49451523e-01 -2.02363517e-03 2.23793104e+01] [ 3.77173610e-03 3.93383311e-05 9.99992886e-01 2.68562252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:71.90, Y:22.39, Z:0.27 [[ 8.52557332e-01 -5.22624021e-01 -3.18257995e-03 7.19012028e+01] [ 5.22620103e-01 8.52563270e-01 -2.02453066e-03 2.23919268e+01] [ 3.77141913e-03 6.27481928e-05 9.99992886e-01 2.74212120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420888479 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:71.92, Y:22.41, Z:0.27 [[ 8.50618014e-01 -5.25774323e-01 -3.21793402e-03 7.19159722e+01] [ 5.25770636e-01 8.50624101e-01 -1.96890565e-03 2.24096597e+01] [ 3.77245227e-03 -1.71086052e-05 9.99992884e-01 2.67757766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.94, Y:22.43, Z:0.27 [[ 8.51729108e-01 -5.23972712e-01 -3.18168034e-03 7.19394930e+01] [ 5.23968799e-01 8.51735049e-01 -2.02584373e-03 2.24257933e+01] [ 3.77143549e-03 5.83688499e-05 9.99992886e-01 2.66677018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:71.96, Y:22.44, Z:0.27 [[ 8.52192113e-01 -5.23219345e-01 -3.18112354e-03 7.19619016e+01] [ 5.23215424e-01 8.52198048e-01 -2.02671767e-03 2.24404328e+01] [ 3.77136517e-03 6.27399133e-05 9.99992886e-01 2.66390009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:71.97, Y:22.46, Z:0.26 [[ 8.49215349e-01 -5.28037095e-01 -3.18088213e-03 7.19742977e+01] [ 5.28033206e-01 8.49221305e-01 -2.02709649e-03 2.24567529e+01] [ 3.77165502e-03 4.18300641e-05 9.99992886e-01 2.64860388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:72.01, Y:22.47, Z:0.27 [[ 8.52881755e-01 -5.22094759e-01 -3.12642239e-03 7.20107499e+01] [ 5.22090513e-01 8.52887468e-01 -2.11240889e-03 2.24710224e+01] [ 3.76936409e-03 1.69359535e-04 9.99992882e-01 2.66312563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:22.49, Z:0.27 [[ 8.49708740e-01 -5.27242771e-01 -3.18085508e-03 7.20244043e+01] [ 5.27238877e-01 8.49714692e-01 -2.02699042e-03 2.24871980e+01] [ 3.77153534e-03 4.52810116e-05 9.99992887e-01 2.65641565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.05, Y:22.50, Z:0.26 [[ 8.49623494e-01 -5.27380427e-01 -3.13103499e-03 7.20468256e+01] [ 5.27376244e-01 8.49629252e-01 -2.10509967e-03 2.25014306e+01] [ 3.77040728e-03 1.37308664e-04 9.99992883e-01 2.64237217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.07, Y:22.52, Z:0.26 [[ 8.49808174e-01 -5.27082821e-01 -3.12518558e-03 7.20706861e+01] [ 5.27078602e-01 8.49813907e-01 -2.11427408e-03 2.25164518e+01] [ 3.77022372e-03 1.49508946e-04 9.99992882e-01 2.64339411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.660888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:72.11, Y:22.53, Z:0.27 [[ 8.53277017e-01 -5.21448524e-01 -3.12560092e-03 7.21100604e+01] [ 5.21444269e-01 8.53282724e-01 -2.11362297e-03 2.25299901e+01] [ 3.76916684e-03 1.73679216e-04 9.99992882e-01 2.66048656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.690888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:72.13, Y:22.55, Z:0.26 [[ 8.52218696e-01 -5.23175985e-01 -3.19115776e-03 7.21312416e+01] [ 5.23172123e-01 8.52224669e-01 -2.01060761e-03 2.25450954e+01] [ 3.77148498e-03 4.39526147e-05 9.99992887e-01 2.63618793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.720888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:72.16, Y:22.56, Z:0.27 [[ 8.51907800e-01 -5.23682135e-01 -3.18139828e-03 7.21571321e+01] [ 5.23678219e-01 8.51913739e-01 -2.02593328e-03 2.25595151e+01] [ 3.77122197e-03 5.98793797e-05 9.99992887e-01 2.65842423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750888479 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:72.18, Y:22.57, Z:0.26 [[ 8.50560480e-01 -5.25867560e-01 -3.19044026e-03 7.21785334e+01] [ 5.25863713e-01 8.50566463e-01 -2.01173602e-03 2.25748105e+01] [ 3.77158820e-03 3.33663965e-05 9.99992887e-01 2.64331332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:72.20, Y:22.59, Z:0.27 [[ 8.49055213e-01 -5.28294547e-01 -3.18067744e-03 7.22039021e+01] [ 5.28290659e-01 8.49061170e-01 -2.02705499e-03 2.25886324e+01] [ 3.77147181e-03 4.07594197e-05 9.99992887e-01 2.67018113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.23, Y:22.60, Z:0.27 [[ 8.47899629e-01 -5.30147232e-01 -3.18306358e-03 7.22284074e+01] [ 5.30143372e-01 8.47905603e-01 -2.02331327e-03 2.26036007e+01] [ 3.77159137e-03 2.80865093e-05 9.99992887e-01 2.67723817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.25, Y:22.62, Z:0.27 [[ 8.47031731e-01 -5.31532791e-01 -3.18413978e-03 7.22514013e+01] [ 5.31528947e-01 8.47037716e-01 -2.02162669e-03 2.26183001e+01] [ 3.77164737e-03 1.99194911e-05 9.99992887e-01 2.67731763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.27, Y:22.63, Z:0.27 [[ 8.45345456e-01 -5.34210572e-01 -3.18184955e-03 7.22748781e+01] [ 5.34206733e-01 8.45351445e-01 -2.02521508e-03 2.26345814e+01] [ 3.77167241e-03 1.22409133e-05 9.99992887e-01 2.65397339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.30, Y:22.65, Z:0.27 [[ 8.44139146e-01 -5.36114694e-01 -3.18386384e-03 7.22989980e+01] [ 5.36110881e-01 8.44145150e-01 -2.02206195e-03 2.26483252e+01] [ 3.77170035e-03 -2.40167656e-09 9.99992887e-01 2.65312477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:72.32, Y:22.66, Z:0.26 [[ 8.42882345e-01 -5.38088513e-01 -3.17892367e-03 7.23238161e+01] [ 5.38084684e-01 8.42888339e-01 -2.02978984e-03 2.26632176e+01] [ 3.77168430e-03 3.43881155e-07 9.99992887e-01 2.64535564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:22.68, Z:0.26 [[ 8.41952722e-01 -5.39541882e-01 -3.18932298e-03 7.23466644e+01] [ 5.39538126e-01 8.41958762e-01 -2.01351416e-03 2.26779220e+01] [ 3.77165365e-03 -2.54776163e-05 9.99992887e-01 2.64576902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:72.37, Y:22.69, Z:0.26 [[ 8.40534287e-01 -5.41749034e-01 -3.17742085e-03 7.23693319e+01] [ 5.41745223e-01 8.40540293e-01 -2.03212429e-03 2.26917730e+01] [ 3.77165162e-03 -1.32824256e-05 9.99992887e-01 2.64417779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02088847899999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:72.39, Y:22.71, Z:0.26 [[ 8.40569774e-01 -5.41693972e-01 -3.17717848e-03 7.23930529e+01] [ 5.41690159e-01 8.40575779e-01 -2.03250316e-03 2.27063707e+01] [ 3.77165398e-03 -1.25855938e-05 9.99992887e-01 2.64366689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.050888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:72.42, Y:22.72, Z:0.26 [[ 8.40073796e-01 -5.42462834e-01 -3.17655228e-03 7.24152513e+01] [ 5.42459023e-01 8.40079802e-01 -2.03348139e-03 2.27216704e+01] [ 3.77164549e-03 -1.48750191e-05 9.99992887e-01 2.63778806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.080888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.44, Y:22.74, Z:0.26 [[ 8.40326433e-01 -5.42071394e-01 -3.17631954e-03 7.24408130e+01] [ 5.42067579e-01 8.40332436e-01 -2.03384486e-03 2.27381147e+01] [ 3.77165346e-03 -1.26862494e-05 9.99992887e-01 2.63793647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.46, Y:22.75, Z:0.26 [[ 8.41552209e-01 -5.40166373e-01 -3.18878952e-03 7.24630797e+01] [ 5.40162618e-01 8.41558250e-01 -2.01437225e-03 2.27524549e+01] [ 3.77164829e-03 -2.72654766e-05 9.99992887e-01 2.64052560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140888479 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:72.49, Y:22.77, Z:0.26 [[ 8.42565050e-01 -5.38585233e-01 -3.17545480e-03 7.24871226e+01] [ 5.38581388e-01 8.42571034e-01 -2.03517821e-03 2.27673533e+01] [ 3.77166316e-03 4.52917948e-06 9.99992887e-01 2.64552240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:72.51, Y:22.78, Z:0.26 [[ 8.43064081e-01 -5.37803755e-01 -3.17439115e-03 7.25101665e+01] [ 5.37799898e-01 8.43070057e-01 -2.03683668e-03 2.27828255e+01] [ 3.77165254e-03 9.99660557e-06 9.99992887e-01 2.64793356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:72.53, Y:22.80, Z:0.27 [[ 8.44408154e-01 -5.35690948e-01 -3.17457386e-03 7.25325276e+01] [ 5.35687077e-01 8.44414121e-01 -2.03655188e-03 2.27979996e+01] [ 3.77161740e-03 1.91028188e-05 9.99992887e-01 2.65305250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:22.81, Z:0.27 [[ 8.44925010e-01 -5.34875360e-01 -3.17433306e-03 7.25561834e+01] [ 5.34871482e-01 8.44930972e-01 -2.03692714e-03 2.28132376e+01] [ 3.77159446e-03 2.31904548e-05 9.99992887e-01 2.65683916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:22.83, Z:0.27 [[ 8.45436757e-01 -5.34066118e-01 -3.17377134e-03 7.25791000e+01] [ 5.34062231e-01 8.45442713e-01 -2.03780199e-03 2.28274322e+01] [ 3.77156285e-03 2.78413007e-05 9.99992887e-01 2.65648770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:22.84, Z:0.27 [[ 8.46622052e-01 -5.32185148e-01 -3.17338890e-03 7.26037145e+01] [ 5.32181245e-01 8.46627998e-01 -2.03839737e-03 2.28408714e+01] [ 3.77148470e-03 3.69341042e-05 9.99992887e-01 2.66220823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:22.86, Z:0.27 [[ 8.47128249e-01 -5.31379020e-01 -3.17282853e-03 7.26280388e+01] [ 5.31375108e-01 8.47134190e-01 -2.03926924e-03 2.28558426e+01] [ 3.77143641e-03 4.15604785e-05 9.99992887e-01 2.66695893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:22.87, Z:0.27 [[ 8.47517422e-01 -5.30758095e-01 -3.17247426e-03 7.26517787e+01] [ 5.30754177e-01 8.47523358e-01 -2.03982022e-03 2.28711453e+01] [ 3.77139713e-03 4.49792129e-05 9.99992887e-01 2.66708975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:22.89, Z:0.27 [[ 8.48238230e-01 -5.29605367e-01 -3.17190327e-03 7.26748956e+01] [ 5.29601438e-01 8.48244158e-01 -2.04070772e-03 2.28864077e+01] [ 3.77131818e-03 5.11617667e-05 9.99992887e-01 2.66368680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:22.90, Z:0.27 [[ 8.48353310e-01 -5.29421008e-01 -3.17132272e-03 7.26977579e+01] [ 5.29417074e-01 8.48359236e-01 -2.04160950e-03 2.29013385e+01] [ 3.77129189e-03 5.30537841e-05 9.99992887e-01 2.65943974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:22.91, Z:0.27 [[ 8.49147280e-01 -5.28146609e-01 -3.17107127e-03 7.27224790e+01] [ 5.28142665e-01 8.49153199e-01 -2.04200000e-03 2.29146733e+01] [ 3.77120069e-03 5.91807188e-05 9.99992887e-01 2.66542024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.470888479 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:72.75, Y:22.93, Z:0.26 [[ 8.49970032e-01 -5.26821476e-01 -3.17439973e-03 7.27548099e+01] [ 5.26817542e-01 8.49975958e-01 -2.03683069e-03 2.29272131e+01] [ 3.77120960e-03 5.89155891e-05 9.99992887e-01 2.64823190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:22.94, Z:0.27 [[ 8.46788550e-01 -5.31919980e-01 -3.20715161e-03 7.27713315e+01] [ 5.31916274e-01 8.46794623e-01 -1.98592943e-03 2.29428268e+01] [ 3.77215428e-03 -2.42738260e-05 9.99992885e-01 2.68595679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:22.96, Z:0.27 [[ 8.45690788e-01 -5.33663791e-01 -3.17013112e-03 7.27959855e+01] [ 5.33659880e-01 8.45696729e-01 -2.04336405e-03 2.29570413e+01] [ 3.77143892e-03 3.62823648e-05 9.99992887e-01 2.69765003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:22.97, Z:0.27 [[ 8.45643375e-01 -5.33738921e-01 -3.16956891e-03 7.28228933e+01] [ 5.33735008e-01 8.45649314e-01 -2.04423575e-03 2.29705304e+01] [ 3.77143196e-03 3.69845361e-05 9.99992887e-01 2.72045212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:22.99, Z:0.27 [[ 8.43370333e-01 -5.37323368e-01 -3.17483390e-03 7.28433936e+01] [ 5.37319510e-01 8.43376309e-01 -2.03607407e-03 2.29851862e+01] [ 3.77160988e-03 1.12642695e-05 9.99992887e-01 2.73098206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:23.00, Z:0.27 [[ 8.42550024e-01 -5.38608829e-01 -3.16015662e-03 7.28697893e+01] [ 5.38604895e-01 8.42555950e-01 -2.05882213e-03 2.30002377e+01] [ 3.77150854e-03 3.25848119e-05 9.99992887e-01 2.72648005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:23.01, Z:0.27 [[ 8.41481731e-01 -5.40276265e-01 -3.17077921e-03 7.28924000e+01] [ 5.40272405e-01 8.41487705e-01 -2.04236223e-03 2.30149044e+01] [ 3.77161156e-03 5.52599795e-06 9.99992887e-01 2.72912463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.92, Y:23.03, Z:0.27 [[ 8.41162055e-01 -5.40773849e-01 -3.16864724e-03 7.29166940e+01] [ 5.40769980e-01 8.41168024e-01 -2.04566396e-03 2.30284035e+01] [ 3.77160631e-03 7.22559962e-06 9.99992887e-01 2.72031428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:23.04, Z:0.27 [[ 8.41580962e-01 -5.40121698e-01 -3.16791200e-03 7.29405686e+01] [ 5.40117820e-01 8.41586924e-01 -2.04680192e-03 2.30432994e+01] [ 3.77159544e-03 1.15038096e-05 9.99992887e-01 2.71661504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:23.06, Z:0.27 [[ 8.41651956e-01 -5.40011088e-01 -3.16368990e-03 7.29649733e+01] [ 5.40007185e-01 8.41657902e-01 -2.05333391e-03 2.30585886e+01] [ 3.77156768e-03 1.97772243e-05 9.99992887e-01 2.72063385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:23.07, Z:0.27 [[ 8.42607665e-01 -5.38518610e-01 -3.16703219e-03 7.29875783e+01] [ 5.38514715e-01 8.42613617e-01 -2.04816581e-03 2.30731193e+01] [ 3.77155985e-03 2.03067728e-05 9.99992887e-01 2.71859987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:23.09, Z:0.27 [[ 8.43247433e-01 -5.37516267e-01 -3.16678586e-03 7.30098864e+01] [ 5.37512364e-01 8.43253379e-01 -2.04854660e-03 2.30878228e+01] [ 3.77153000e-03 2.52451109e-05 9.99992887e-01 2.71236462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:23.10, Z:0.27 [[ 8.44586537e-01 -5.35409708e-01 -3.16641332e-03 7.30385109e+01] [ 5.35405788e-01 8.44592472e-01 -2.04912226e-03 2.31026184e+01] [ 3.77144881e-03 3.53450529e-05 9.99992887e-01 2.73215928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:23.12, Z:0.27 [[ 8.44525349e-01 -5.35506111e-01 -3.18421961e-03 7.30574882e+01] [ 5.35502295e-01 8.44531352e-01 -2.02159612e-03 2.31178123e+01] [ 3.77175037e-03 2.13226465e-06 9.99992887e-01 2.72067879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:23.13, Z:0.27 [[ 8.45964933e-01 -5.33229136e-01 -3.16559853e-03 7.30810471e+01] [ 5.33225196e-01 8.45970854e-01 -2.05034584e-03 2.31320811e+01] [ 3.77130824e-03 4.65437775e-05 9.99992888e-01 2.72947947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:23.15, Z:0.27 [[ 8.46278566e-01 -5.32731236e-01 -3.16533180e-03 7.31041807e+01] [ 5.32727291e-01 8.46284484e-01 -2.05075754e-03 2.31475518e+01] [ 3.77127379e-03 4.92535118e-05 9.99992888e-01 2.73684522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:73.13, Y:23.16, Z:0.27 [[ 8.46637539e-01 -5.32160561e-01 -3.16476355e-03 7.31278210e+01] [ 5.32156609e-01 8.46643452e-01 -2.05163409e-03 2.31633700e+01] [ 3.77122509e-03 5.28405991e-05 9.99992888e-01 2.73974212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.15, Y:23.18, Z:0.27 [[ 8.46939537e-01 -5.31679798e-01 -3.16419417e-03 7.31511813e+01] [ 5.31675839e-01 8.46945446e-01 -2.05251187e-03 2.31786714e+01] [ 3.77117894e-03 5.60278576e-05 9.99992888e-01 2.74887702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:23.19, Z:0.28 [[ 8.47063514e-01 -5.31482261e-01 -3.16361563e-03 7.31753861e+01] [ 5.31478298e-01 8.47069420e-01 -2.05340321e-03 2.31936406e+01] [ 3.77114944e-03 5.79698936e-05 9.99992888e-01 2.75709305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:23.21, Z:0.28 [[ 8.48371480e-01 -5.29391940e-01 -3.16304362e-03 7.32079968e+01] [ 5.29387959e-01 8.48377374e-01 -2.05428395e-03 2.32071198e+01] [ 3.77097600e-03 6.83187135e-05 9.99992888e-01 2.75766365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:23.22, Z:0.28 [[ 8.46611654e-01 -5.32201536e-01 -3.19876926e-03 7.32238343e+01] [ 5.32197781e-01 8.46617697e-01 -1.99926649e-03 2.32234689e+01] [ 3.77214736e-03 -9.77559490e-06 9.99992885e-01 2.75670451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:23.24, Z:0.28 [[ 8.46321872e-01 -5.32662458e-01 -3.16143325e-03 7.32473423e+01] [ 5.32658490e-01 8.46327775e-01 -2.05665830e-03 2.32380796e+01] [ 3.77111343e-03 5.66306464e-05 9.99992888e-01 2.75893324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:23.25, Z:0.28 [[ 8.48333025e-01 -5.29453575e-01 -3.16085621e-03 7.32830418e+01] [ 5.29449581e-01 8.48338911e-01 -2.05754476e-03 2.32507037e+01] [ 3.77085174e-03 7.19691704e-05 9.99992888e-01 2.77704960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:23.27, Z:0.28 [[ 8.45343309e-01 -5.34213770e-01 -3.21521231e-03 7.32939357e+01] [ 5.34210125e-01 8.45349422e-01 -1.97389608e-03 2.32675193e+01] [ 3.77246034e-03 -4.89791287e-05 9.99992883e-01 2.76847789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:23.28, Z:0.28 [[ 8.44746722e-01 -5.35156977e-01 -3.16006504e-03 7.33163628e+01] [ 5.35153020e-01 8.44752631e-01 -2.05855220e-03 2.32825721e+01] [ 3.77112183e-03 4.78368696e-05 9.99992888e-01 2.76620573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.220888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:73.34, Y:23.30, Z:0.28 [[ 8.42940010e-01 -5.37998285e-01 -3.15981519e-03 7.33398658e+01] [ 5.37994346e-01 8.42945932e-01 -2.05893564e-03 2.32978834e+01] [ 3.77125720e-03 3.55965198e-05 9.99992888e-01 2.77483118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:73.36, Y:23.31, Z:0.28 [[ 8.41836067e-01 -5.39724055e-01 -3.15925532e-03 7.33639753e+01] [ 5.39720126e-01 8.41841994e-01 -2.05979435e-03 2.33132081e+01] [ 3.77131436e-03 2.88954970e-05 9.99992888e-01 2.77943615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:73.39, Y:23.33, Z:0.28 [[ 8.40732887e-01 -5.41440888e-01 -3.15867952e-03 7.33870742e+01] [ 5.41436967e-01 8.40738820e-01 -2.06067697e-03 2.33277023e+01] [ 3.77135926e-03 2.22530385e-05 9.99992888e-01 2.78045921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310888479 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:73.41, Y:23.34, Z:0.28 [[ 8.38164407e-01 -5.45408517e-01 -3.15843050e-03 7.34109130e+01] [ 5.45404623e-01 8.38170358e-01 -2.06105857e-03 2.33425088e+01] [ 3.77142172e-03 4.88333730e-06 9.99992888e-01 2.78057222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:73.43, Y:23.36, Z:0.28 [[ 8.36698608e-01 -5.47654514e-01 -3.15786478e-03 7.34332570e+01] [ 5.47650633e-01 8.36704567e-01 -2.06192498e-03 2.33571330e+01] [ 3.77142241e-03 -4.19687984e-06 9.99992888e-01 2.78105717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:73.46, Y:23.37, Z:0.28 [[ 8.35298520e-01 -5.49787606e-01 -3.15761959e-03 7.34556624e+01] [ 5.49783738e-01 8.35304488e-01 -2.06230039e-03 2.33717982e+01] [ 3.77140101e-03 -1.33714370e-05 9.99992888e-01 2.78147680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:23.39, Z:0.28 [[ 8.32794863e-01 -5.53572712e-01 -3.15738245e-03 7.34789586e+01] [ 5.53568870e-01 8.32800847e-01 -2.06266338e-03 2.33873578e+01] [ 3.77130495e-03 -3.00531710e-05 9.99992888e-01 2.78718629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430888479 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:73.52, Y:23.40, Z:0.28 [[ 8.36510586e-01 -5.47941670e-01 -3.15682947e-03 7.35220099e+01] [ 5.47937784e-01 8.36516543e-01 -2.06350936e-03 2.33995749e+01] [ 3.77142284e-03 -3.59872023e-06 9.99992888e-01 2.75724895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:73.52, Y:23.42, Z:0.28 [[ 8.31083856e-01 -5.56137649e-01 -3.24641017e-03 7.35248161e+01] [ 5.56134351e-01 8.31090172e-01 -1.92603560e-03 2.34189247e+01] [ 3.76920049e-03 -2.04743118e-04 9.99992876e-01 2.79297417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:23.43, Z:0.28 [[ 8.30744157e-01 -5.56645476e-01 -3.15590732e-03 7.35472901e+01] [ 5.56641650e-01 8.30750150e-01 -2.06439061e-03 2.34348433e+01] [ 3.77090418e-03 -4.17290173e-05 9.99992889e-01 2.79524354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:23.45, Z:0.28 [[ 8.30598365e-01 -5.56862998e-01 -3.15566572e-03 7.35711654e+01] [ 5.56859171e-01 8.30604358e-01 -2.06475986e-03 2.34505742e+01] [ 3.77089807e-03 -4.22752380e-05 9.99992889e-01 2.79631995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.550888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:73.59, Y:23.47, Z:0.28 [[ 8.31029297e-01 -5.56219699e-01 -3.15512482e-03 7.35941774e+01] [ 5.56215865e-01 8.31035285e-01 -2.06558607e-03 2.34662972e+01] [ 3.77093972e-03 -3.83679463e-05 9.99992889e-01 2.80063273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:23.48, Z:0.28 [[ 8.31559943e-01 -5.55426062e-01 -3.15456387e-03 7.36170898e+01] [ 5.55422219e-01 8.31565926e-01 -2.06644239e-03 2.34828010e+01] [ 3.77098379e-03 -3.37441450e-05 9.99992889e-01 2.80333171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:73.64, Y:23.50, Z:0.28 [[ 8.32373637e-01 -5.54205901e-01 -3.15399518e-03 7.36392724e+01] [ 5.54202046e-01 8.32379612e-01 -2.06731002e-03 2.34991110e+01] [ 3.77103670e-03 -2.71762203e-05 9.99992889e-01 2.79618073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.66, Y:23.52, Z:0.28 [[ 8.34196426e-01 -5.51458410e-01 -3.15374871e-03 7.36633587e+01] [ 5.51454533e-01 8.34202387e-01 -2.06768595e-03 2.35167892e+01] [ 3.77110751e-03 -1.42928003e-05 9.99992889e-01 2.80949394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.69, Y:23.53, Z:0.28 [[ 8.36531903e-01 -5.47909110e-01 -3.15955410e-03 7.36866421e+01] [ 5.47905242e-01 8.36537870e-01 -2.05883571e-03 2.35323740e+01] [ 3.77114150e-03 -8.85450240e-06 9.99992889e-01 2.80919649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:23.55, Z:0.28 [[ 8.38343051e-01 -5.45133918e-01 -3.15278152e-03 7.37085764e+01] [ 5.45129992e-01 8.38348979e-01 -2.06915512e-03 2.35480360e+01] [ 3.77109781e-03 1.59860544e-05 9.99992889e-01 2.81425572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:73.73, Y:23.57, Z:0.28 [[ 8.41314005e-01 -5.40537516e-01 -3.15253234e-03 7.37320842e+01] [ 5.40533555e-01 8.41319911e-01 -2.06953470e-03 2.35674188e+01] [ 3.77094937e-03 3.70790127e-05 9.99992889e-01 2.84212063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:73.76, Y:23.58, Z:0.29 [[ 8.42622642e-01 -5.38495230e-01 -3.15768117e-03 7.37557449e+01] [ 5.38491284e-01 8.42628558e-01 -2.06169299e-03 2.35842087e+01] [ 3.77096417e-03 3.68454070e-05 9.99992889e-01 2.85510649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:73.78, Y:23.60, Z:0.28 [[ 8.44406941e-01 -5.35692952e-01 -3.15911418e-03 7.37777605e+01] [ 5.35688995e-01 8.44412849e-01 -2.05951148e-03 2.35996865e+01] [ 3.77086239e-03 4.67630916e-05 9.99992889e-01 2.84180323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:73.80, Y:23.62, Z:0.29 [[ 8.46423397e-01 -5.32501177e-01 -3.15116457e-03 7.37999261e+01] [ 5.32497152e-01 8.46429259e-01 -2.07160382e-03 2.36170570e+01] [ 3.77036936e-03 7.54677842e-05 9.99992889e-01 2.85127151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:73.82, Y:23.63, Z:0.28 [[ 8.46973013e-01 -5.31626551e-01 -3.15059055e-03 7.38230987e+01] [ 5.31622517e-01 8.46978869e-01 -2.07247645e-03 2.36332365e+01] [ 3.77026712e-03 8.04067456e-05 9.99992889e-01 2.84969359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88088847899999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:73.85, Y:23.65, Z:0.28 [[ 8.47340686e-01 -5.31040337e-01 -3.15002006e-03 7.38463537e+01] [ 5.31036296e-01 8.47346537e-01 -2.07334319e-03 2.36490412e+01] [ 3.77018745e-03 8.40530574e-05 9.99992889e-01 2.84565211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.910888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:73.86, Y:23.66, Z:0.28 [[ 8.45076020e-01 -5.34636888e-01 -3.14944451e-03 7.38615100e+01] [ 5.34632868e-01 8.45081886e-01 -2.07421708e-03 2.36639758e+01] [ 3.77049148e-03 6.90745639e-05 9.99992889e-01 2.79701405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.940888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:73.89, Y:23.68, Z:0.28 [[ 8.48653623e-01 -5.28939884e-01 -3.10276148e-03 7.38927371e+01] [ 5.28935565e-01 8.48659276e-01 -2.14500971e-03 2.36820760e+01] [ 3.76776850e-03 1.79209364e-04 9.99992886e-01 2.83024473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.970888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:73.91, Y:23.70, Z:0.28 [[ 8.46441429e-01 -5.32472524e-01 -3.14947933e-03 7.39069840e+01] [ 5.32468490e-01 8.46447284e-01 -2.07406854e-03 2.36974766e+01] [ 3.77025274e-03 7.85790408e-05 9.99992889e-01 2.77231470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:73.94, Y:23.71, Z:0.28 [[ 8.49902643e-01 -5.26930576e-01 -3.10894002e-03 7.39385349e+01] [ 5.26926277e-01 8.49908311e-01 -2.13575052e-03 2.37128439e+01] [ 3.76770621e-03 1.76997818e-04 9.99992887e-01 2.79571845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030888479 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:73.96, Y:23.73, Z:0.28 [[ 8.50103756e-01 -5.26605839e-01 -3.14539513e-03 7.39626116e+01] [ 5.26601742e-01 8.50109568e-01 -2.08023028e-03 2.37290184e+01] [ 3.76939190e-03 1.12041017e-04 9.99992890e-01 2.80436124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060888479 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:73.99, Y:23.74, Z:0.28 [[ 8.49498244e-01 -5.27582028e-01 -3.15229122e-03 7.39881206e+01] [ 5.27577977e-01 8.49504087e-01 -2.06972721e-03 2.37449435e+01] [ 3.76983515e-03 9.51502028e-05 9.99992890e-01 2.80691979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090888479 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:74.01, Y:23.76, Z:0.28 [[ 8.49521445e-01 -5.27544630e-01 -3.15874003e-03 7.40111444e+01] [ 5.27540615e-01 8.49527313e-01 -2.05990882e-03 2.37589580e+01] [ 3.77012977e-03 8.35730584e-05 9.99992890e-01 2.81356618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:74.03, Y:23.77, Z:0.28 [[ 8.49547074e-01 -5.27503403e-01 -3.15105140e-03 7.40348140e+01] [ 5.27499344e-01 8.49552912e-01 -2.07160376e-03 2.37725499e+01] [ 3.76976293e-03 9.77473703e-05 9.99992890e-01 2.81035903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:74.06, Y:23.79, Z:0.28 [[ 8.49687302e-01 -5.27277500e-01 -3.15079727e-03 7.40584290e+01] [ 5.27273438e-01 8.49693138e-01 -2.07199021e-03 2.37876528e+01] [ 3.76972463e-03 9.92120555e-05 9.99992890e-01 2.80904397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:74.08, Y:23.80, Z:0.28 [[ 8.49873196e-01 -5.26977822e-01 -3.15062627e-03 7.40818766e+01] [ 5.26973757e-01 8.49879029e-01 -2.07225020e-03 2.38028793e+01] [ 3.76968109e-03 1.00852538e-04 9.99992890e-01 2.81984126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:74.11, Y:23.82, Z:0.28 [[ 8.50683993e-01 -5.25667977e-01 -3.15003791e-03 7.41053274e+01] [ 5.25663900e-01 8.50689818e-01 -2.07314418e-03 2.38174309e+01] [ 3.76949068e-03 1.07729351e-04 9.99992890e-01 2.79014370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24088847899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:74.13, Y:23.83, Z:0.28 [[ 8.50884454e-01 -5.25343434e-01 -3.14985586e-03 7.41298540e+01] [ 5.25339354e-01 8.50890278e-01 -2.07342074e-03 2.38320221e+01] [ 3.76943970e-03 1.09498232e-04 9.99992890e-01 2.78842257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27088847899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:74.15, Y:23.85, Z:0.28 [[ 8.51057141e-01 -5.25063638e-01 -3.14937989e-03 7.41542717e+01] [ 5.25059553e-01 8.51062961e-01 -2.07414345e-03 2.38461207e+01] [ 3.76937788e-03 1.11602604e-04 9.99992890e-01 2.79355343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.300888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.18, Y:23.86, Z:0.28 [[ 8.51128810e-01 -5.24947458e-01 -3.14883683e-03 7.41790946e+01] [ 5.24943369e-01 8.51134627e-01 -2.07496757e-03 2.38588503e+01] [ 3.76933301e-03 1.13103668e-04 9.99992890e-01 2.80411595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.330888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:74.20, Y:23.87, Z:0.28 [[ 8.51031627e-01 -5.25104997e-01 -3.14829900e-03 7.42028978e+01] [ 5.25100907e-01 8.51037443e-01 -2.07578327e-03 2.38729707e+01] [ 3.76932450e-03 1.13382555e-04 9.99992890e-01 2.82996596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.24, Y:23.89, Z:0.28 [[ 8.53689341e-01 -5.20773080e-01 -3.14772355e-03 7.42379689e+01] [ 5.20768957e-01 8.53695134e-01 -2.07665553e-03 2.38860689e+01] [ 3.76866257e-03 1.33581987e-04 9.99992890e-01 2.83834115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.24, Y:23.90, Z:0.28 [[ 8.49090829e-01 -5.28237235e-01 -3.19200389e-03 7.42437539e+01] [ 5.28233413e-01 8.49096828e-01 -2.00948626e-03 2.39006635e+01] [ 3.77180585e-03 2.01132418e-05 9.99992887e-01 2.81047149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.28, Y:23.92, Z:0.29 [[ 8.52152103e-01 -5.23284990e-01 -3.10040402e-03 7.42771260e+01] [ 5.23280622e-01 8.52157718e-01 -2.14832529e-03 2.39164926e+01] [ 3.76621959e-03 2.08318570e-04 9.99992886e-01 2.87139927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.30, Y:23.93, Z:0.29 [[ 8.52547094e-01 -5.22640925e-01 -3.14903954e-03 7.43003483e+01] [ 5.22636822e-01 8.52552901e-01 -2.07449773e-03 2.39306330e+01] [ 3.76894020e-03 1.22802993e-04 9.99992890e-01 2.87698160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.32, Y:23.95, Z:0.29 [[ 8.53823269e-01 -5.20553467e-01 -3.14865068e-03 7.43247238e+01] [ 5.20549348e-01 8.53829064e-01 -2.07508777e-03 2.39455444e+01] [ 3.76860359e-03 1.32730163e-04 9.99992890e-01 2.88390882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:74.35, Y:23.96, Z:0.29 [[ 8.54397133e-01 -5.19611036e-01 -3.14808246e-03 7.43482358e+01] [ 5.19606907e-01 8.54402922e-01 -2.07594945e-03 2.39612996e+01] [ 3.76841709e-03 1.37919867e-04 9.99992890e-01 2.88368208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.37, Y:23.98, Z:0.29 [[ 8.55222966e-01 -5.18250684e-01 -3.14750122e-03 7.43720264e+01] [ 5.18246543e-01 8.55228745e-01 -2.07683033e-03 2.39772578e+01] [ 3.76815226e-03 1.44971365e-04 9.99992890e-01 2.87562490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.39, Y:23.99, Z:0.29 [[ 8.55930630e-01 -5.17081088e-01 -3.14721986e-03 7.43948953e+01] [ 5.17076938e-01 8.55936403e-01 -2.07725661e-03 2.39924281e+01] [ 3.76793016e-03 1.50632751e-04 9.99992890e-01 2.86099945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.42, Y:24.01, Z:0.29 [[ 8.56519950e-01 -5.16104323e-01 -3.14681910e-03 7.44198196e+01] [ 5.16100164e-01 8.56525717e-01 -2.07786354e-03 2.40090141e+01] [ 3.76772585e-03 1.55657724e-04 9.99992890e-01 2.85417179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63088847899999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.44, Y:24.02, Z:0.28 [[ 8.57102868e-01 -5.15135635e-01 -3.15470269e-03 7.44424250e+01] [ 5.15131513e-01 8.57108661e-01 -2.06592373e-03 2.40236756e+01] [ 3.76815393e-03 1.45622385e-04 9.99992890e-01 2.84316281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:24.04, Z:0.28 [[ 8.57181751e-01 -5.15004403e-01 -3.14804088e-03 7.44647935e+01] [ 5.15000243e-01 8.57187517e-01 -2.07600790e-03 2.40380237e+01] [ 3.76761456e-03 1.58274264e-04 9.99992890e-01 2.84805131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.690888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.49, Y:24.05, Z:0.28 [[ 8.56353778e-01 -5.16380006e-01 -3.14590525e-03 7.44914148e+01] [ 5.16375843e-01 8.56359542e-01 -2.07923912e-03 2.40528131e+01] [ 3.76770349e-03 1.56094801e-04 9.99992890e-01 2.84899071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.720888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.51, Y:24.07, Z:0.29 [[ 8.56875422e-01 -5.15513879e-01 -3.15474466e-03 7.45135626e+01] [ 5.15509760e-01 8.56881217e-01 -2.06586435e-03 2.40659903e+01] [ 3.76822319e-03 1.43886727e-04 9.99992890e-01 2.86861805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.54, Y:24.08, Z:0.29 [[ 8.56002770e-01 -5.16961666e-01 -3.14534404e-03 7.45374373e+01] [ 5.16957504e-01 8.56008535e-01 -2.08007930e-03 2.40808772e+01] [ 3.76776260e-03 1.54544437e-04 9.99992890e-01 2.87714947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.56, Y:24.09, Z:0.29 [[ 8.53853077e-01 -5.20504595e-01 -3.14477594e-03 7.45591439e+01] [ 5.20500454e-01 8.53858857e-01 -2.08093783e-03 2.40944252e+01] [ 3.76833248e-03 1.39957865e-04 9.99992890e-01 2.85517207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.59, Y:24.11, Z:0.29 [[ 8.54270449e-01 -5.19819426e-01 -3.12467581e-03 7.45872618e+01] [ 5.19815170e-01 8.54276145e-01 -2.11129349e-03 2.41102278e+01] [ 3.76682737e-03 1.79361756e-04 9.99992889e-01 2.87984476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:74.61, Y:24.12, Z:0.29 [[ 8.53699231e-01 -5.20756887e-01 -3.14437246e-03 7.46107135e+01] [ 5.20752745e-01 8.53705011e-01 -2.08153974e-03 2.41248544e+01] [ 3.76834268e-03 1.39568289e-04 9.99992890e-01 2.87780610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:24.14, Z:0.29 [[ 8.52793242e-01 -5.22239220e-01 -3.14379367e-03 7.46354264e+01] [ 5.22235085e-01 8.52799026e-01 -2.08241354e-03 2.41392742e+01] [ 3.76854220e-03 1.34068836e-04 9.99992890e-01 2.87104429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.66, Y:24.15, Z:0.29 [[ 8.52350733e-01 -5.22961134e-01 -3.14321126e-03 7.46597187e+01] [ 5.22957001e-01 8.52356519e-01 -2.08329226e-03 2.41541331e+01] [ 3.76861749e-03 1.31931349e-04 9.99992890e-01 2.87236890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.68, Y:24.17, Z:0.29 [[ 8.52084629e-01 -5.23394601e-01 -3.14262296e-03 7.46839608e+01] [ 5.23390468e-01 8.52090414e-01 -2.08417932e-03 2.41688346e+01] [ 3.76864711e-03 1.31078261e-04 9.99992890e-01 2.86998618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.71, Y:24.18, Z:0.29 [[ 8.52244895e-01 -5.23133601e-01 -3.14244180e-03 7.47080054e+01] [ 5.23129465e-01 8.52250678e-01 -2.08445244e-03 2.41831754e+01] [ 3.76859526e-03 1.32560057e-04 9.99992890e-01 2.87253039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99088847899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.73, Y:24.20, Z:0.29 [[ 8.52237218e-01 -5.23146108e-01 -3.14217713e-03 7.47311072e+01] [ 5.23141971e-01 8.52243001e-01 -2.08485133e-03 2.41987158e+01] [ 3.76858033e-03 1.32983164e-04 9.99992890e-01 2.86984662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02088847899999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:74.75, Y:24.22, Z:0.28 [[ 8.49641975e-01 -5.27350590e-01 -3.14160522e-03 7.47460758e+01] [ 5.27346478e-01 8.49647775e-01 -2.08571278e-03 2.42150829e+01] [ 3.76915975e-03 1.15394675e-04 9.99992890e-01 2.80354019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.050888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:74.78, Y:24.23, Z:0.28 [[ 8.53174288e-01 -5.21616701e-01 -3.10673313e-03 7.47779356e+01] [ 5.21612359e-01 8.53179920e-01 -2.13816111e-03 2.42296474e+01] [ 3.76590286e-03 2.03713686e-04 9.99992888e-01 2.82171537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.080888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.80, Y:24.25, Z:0.28 [[ 8.53482648e-01 -5.21111796e-01 -3.14100329e-03 7.48024717e+01] [ 5.21107639e-01 8.53488415e-01 -2.08657284e-03 2.42453976e+01] [ 3.76814764e-03 1.44052903e-04 9.99992890e-01 2.81841960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:74.83, Y:24.26, Z:0.28 [[ 8.53961682e-01 -5.20326419e-01 -3.14050571e-03 7.48258241e+01] [ 5.20322254e-01 8.53967444e-01 -2.08732149e-03 2.42601910e+01] [ 3.76797815e-03 1.48417565e-04 9.99992890e-01 2.80950252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.85, Y:24.28, Z:0.28 [[ 8.54234916e-01 -5.19877723e-01 -3.14024045e-03 7.48494215e+01] [ 5.19873553e-01 8.54240675e-01 -2.08772047e-03 2.42757952e+01] [ 3.76788049e-03 1.50875762e-04 9.99992890e-01 2.80439095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:74.87, Y:24.29, Z:0.28 [[ 8.54485291e-01 -5.19466101e-01 -3.13967128e-03 7.48734229e+01] [ 5.19461925e-01 8.54491045e-01 -2.08857609e-03 2.42915736e+01] [ 3.76776547e-03 1.53717860e-04 9.99992890e-01 2.79347413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.89, Y:24.31, Z:0.27 [[ 8.51479238e-01 -5.24378922e-01 -3.13917202e-03 7.48877476e+01] [ 5.24374776e-01 8.51485014e-01 -2.08932621e-03 2.43068765e+01] [ 3.76855656e-03 1.32915260e-04 9.99992890e-01 2.74665680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:24.32, Z:0.28 [[ 8.52795344e-01 -5.22236088e-01 -3.09360656e-03 7.49163898e+01] [ 5.22231678e-01 8.52800925e-01 -2.15780276e-03 2.43222144e+01] [ 3.76511301e-03 2.24584802e-04 9.99992887e-01 2.77199899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:74.94, Y:24.34, Z:0.28 [[ 8.50857068e-01 -5.25387983e-01 -3.11710492e-03 7.49394069e+01] [ 5.25383723e-01 8.50862761e-01 -2.12246060e-03 2.43376890e+01] [ 3.76734379e-03 1.68234413e-04 9.99992889e-01 2.75743649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.97, Y:24.35, Z:0.28 [[ 8.51367629e-01 -5.24560277e-01 -3.11075542e-03 7.49688561e+01] [ 5.24555976e-01 8.51373292e-01 -2.13200648e-03 2.43527524e+01] [ 3.76677999e-03 1.83355961e-04 9.99992889e-01 2.78802431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:24.37, Z:0.28 [[ 8.49912007e-01 -5.26915285e-01 -3.14057395e-03 7.49933188e+01] [ 5.26911165e-01 8.49917801e-01 -2.08713772e-03 2.43677395e+01] [ 3.76897447e-03 1.19079925e-04 9.99992890e-01 2.80535990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:24.38, Z:0.28 [[ 8.46442718e-01 -5.32470530e-01 -3.14009692e-03 7.50155896e+01] [ 5.32466445e-01 8.46448537e-01 -2.08785516e-03 2.43822314e+01] [ 3.76965179e-03 9.52535519e-05 9.99992890e-01 2.80236006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38088847899999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:75.04, Y:24.40, Z:0.28 [[ 8.46356720e-01 -5.32607262e-01 -3.13144463e-03 7.50402834e+01] [ 5.32603130e-01 8.46362506e-01 -2.10085919e-03 2.43965867e+01] [ 3.76927019e-03 1.10259081e-04 9.99992890e-01 2.84940048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.410888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:75.05, Y:24.41, Z:0.28 [[ 8.42483807e-01 -5.38712520e-01 -3.13934974e-03 7.50547597e+01] [ 5.38708474e-01 8.42489654e-01 -2.08897927e-03 2.44118088e+01] [ 3.77022896e-03 6.87368959e-05 9.99992890e-01 2.81709305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.440888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:75.08, Y:24.43, Z:0.28 [[ 8.42618940e-01 -5.38501405e-01 -3.09185201e-03 7.50782993e+01] [ 5.38497094e-01 8.42624598e-01 -2.16031307e-03 2.44273726e+01] [ 3.76860218e-03 1.55367383e-04 9.99992887e-01 2.81778901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.470888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:75.11, Y:24.44, Z:0.29 [[ 8.44425923e-01 -5.35663431e-01 -3.09028702e-03 7.51118245e+01] [ 5.35659092e-01 8.44431560e-01 -2.16266306e-03 2.44424046e+01] [ 3.76799540e-03 1.70868408e-04 9.99992886e-01 2.86755377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:24.46, Z:0.29 [[ 8.43759338e-01 -5.36712511e-01 -3.14011624e-03 7.51352607e+01] [ 5.36708456e-01 8.43765177e-01 -2.08771536e-03 2.44580875e+01] [ 3.77002368e-03 7.62023891e-05 9.99992891e-01 2.86023081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:75.16, Y:24.47, Z:0.28 [[ 8.43306445e-01 -5.37423839e-01 -3.13952892e-03 7.51579105e+01] [ 5.37419786e-01 8.43312286e-01 -2.08859819e-03 2.44731901e+01] [ 3.77006577e-03 7.40833598e-05 9.99992891e-01 2.84792395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:24.49, Z:0.28 [[ 8.42674749e-01 -5.38413793e-01 -3.13927405e-03 7.51817377e+01] [ 5.38409745e-01 8.42680594e-01 -2.08898121e-03 2.44884139e+01] [ 3.77014162e-03 7.01159763e-05 9.99992891e-01 2.82842264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:24.50, Z:0.28 [[ 8.42081225e-01 -5.39341599e-01 -3.13868270e-03 7.52041635e+01] [ 5.39337554e-01 8.42087071e-01 -2.08986934e-03 2.45031419e+01] [ 3.77019759e-03 6.70302809e-05 9.99992891e-01 2.81611148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.23, Y:24.52, Z:0.28 [[ 8.41641594e-01 -5.40027387e-01 -3.13828195e-03 7.52278385e+01] [ 5.40023345e-01 8.41647442e-01 -2.09047096e-03 2.45186976e+01] [ 3.77023854e-03 6.46817938e-05 9.99992891e-01 2.80581814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:75.25, Y:24.53, Z:0.28 [[ 8.41444934e-01 -5.40333765e-01 -3.13770409e-03 7.52513521e+01] [ 5.40329722e-01 8.41450782e-01 -2.09133793e-03 2.45342884e+01] [ 3.77024406e-03 6.43509340e-05 9.99992891e-01 2.79010325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.27, Y:24.55, Z:0.28 [[ 8.41037508e-01 -5.40967715e-01 -3.13712509e-03 7.52739281e+01] [ 5.40963672e-01 8.41043357e-01 -2.09220611e-03 2.45504319e+01] [ 3.77027417e-03 6.25531042e-05 9.99992891e-01 2.76599642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.30, Y:24.57, Z:0.28 [[ 8.40731466e-01 -5.41443223e-01 -3.13654903e-03 7.52971152e+01] [ 5.41439181e-01 8.40737315e-01 -2.09306935e-03 2.45666174e+01] [ 3.77029203e-03 6.14587264e-05 9.99992891e-01 2.76100089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:24.58, Z:0.28 [[ 8.40702705e-01 -5.41487883e-01 -3.13597122e-03 7.53198668e+01] [ 5.41483838e-01 8.40708551e-01 -2.09393471e-03 2.45820679e+01] [ 3.77027809e-03 6.22988408e-05 9.99992891e-01 2.76130991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77088847899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.34, Y:24.60, Z:0.28 [[ 8.40305368e-01 -5.42104285e-01 -3.13579128e-03 7.53431618e+01] [ 5.42100243e-01 8.40311216e-01 -2.09420414e-03 2.45982586e+01] [ 3.77031763e-03 5.98577635e-05 9.99992891e-01 2.77732958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.800888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.37, Y:24.61, Z:0.28 [[ 8.39902131e-01 -5.42728825e-01 -3.13561044e-03 7.53665593e+01] [ 5.42724787e-01 8.39907983e-01 -2.09447487e-03 2.46145416e+01] [ 3.77035613e-03 5.73803979e-05 9.99992891e-01 2.78820423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.830888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:75.39, Y:24.63, Z:0.28 [[ 8.39144253e-01 -5.43899893e-01 -3.13502700e-03 7.53895827e+01] [ 5.43895860e-01 8.39150108e-01 -2.09534781e-03 2.46297842e+01] [ 3.77041770e-03 5.31708654e-05 9.99992891e-01 2.79810503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.41, Y:24.65, Z:0.28 [[ 8.38723207e-01 -5.44548947e-01 -3.13475247e-03 7.54130748e+01] [ 5.44544916e-01 8.38729064e-01 -2.09575844e-03 2.46453579e+01] [ 3.77045106e-03 5.07477194e-05 9.99992891e-01 2.80508613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:75.44, Y:24.66, Z:0.28 [[ 8.38399592e-01 -5.45047063e-01 -3.13417681e-03 7.54357742e+01] [ 5.45043033e-01 8.38405449e-01 -2.09661898e-03 2.46610936e+01] [ 3.77046693e-03 4.95432574e-05 9.99992891e-01 2.80419844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.46, Y:24.68, Z:0.28 [[ 8.38426001e-01 -5.45006442e-01 -3.13360256e-03 7.54578121e+01] [ 5.45002408e-01 8.38431855e-01 -2.09747690e-03 2.46769486e+01] [ 3.77045063e-03 5.07582246e-05 9.99992891e-01 2.80658061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.48, Y:24.69, Z:0.28 [[ 8.38453615e-01 -5.44963960e-01 -3.13335402e-03 7.54811328e+01] [ 5.44959924e-01 8.38459468e-01 -2.09784813e-03 2.46935124e+01] [ 3.77044197e-03 5.13959760e-05 9.99992891e-01 2.80397878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:75.50, Y:24.71, Z:0.28 [[ 8.38326038e-01 -5.45160197e-01 -3.13277287e-03 7.55042253e+01] [ 5.45156159e-01 8.38331890e-01 -2.09871561e-03 2.47099754e+01] [ 3.77043962e-03 5.15575173e-05 9.99992891e-01 2.80230537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:75.53, Y:24.73, Z:0.28 [[ 8.37935759e-01 -5.45759886e-01 -3.13218902e-03 7.55262841e+01] [ 5.45755850e-01 8.37941611e-01 -2.09958660e-03 2.47261183e+01] [ 3.77046166e-03 4.99082083e-05 9.99992891e-01 2.80109444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:75.55, Y:24.74, Z:0.28 [[ 8.37583148e-01 -5.46300889e-01 -3.13193631e-03 7.55492645e+01] [ 5.46296855e-01 8.37589002e-01 -2.09996351e-03 2.47422816e+01] [ 3.77048734e-03 4.79270913e-05 9.99992891e-01 2.80250099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:24.76, Z:0.28 [[ 8.37177330e-01 -5.46922584e-01 -3.13135260e-03 7.55713903e+01] [ 5.46918551e-01 8.37183185e-01 -2.10083353e-03 2.47579985e+01] [ 3.77050905e-03 4.61753794e-05 9.99992891e-01 2.80893956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.59, Y:24.77, Z:0.28 [[ 8.36910838e-01 -5.47330290e-01 -3.13095457e-03 7.55947401e+01] [ 5.47326258e-01 8.36916693e-01 -2.10142657e-03 2.47744936e+01] [ 3.77052256e-03 4.50530281e-05 9.99992891e-01 2.80648733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.62, Y:24.79, Z:0.28 [[ 8.36444522e-01 -5.48042664e-01 -3.13036827e-03 7.56164780e+01] [ 5.48038633e-01 8.36450379e-01 -2.10229959e-03 2.47898000e+01] [ 3.77054759e-03 4.28942281e-05 9.99992891e-01 2.80024771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.160888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.64, Y:24.81, Z:0.28 [[ 8.36417201e-01 -5.48084362e-01 -3.13011522e-03 7.56383419e+01] [ 5.48080330e-01 8.36423057e-01 -2.10267628e-03 2.48050683e+01] [ 3.77054453e-03 4.31600226e-05 9.99992891e-01 2.80542139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.190888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.66, Y:24.82, Z:0.28 [[ 8.36287984e-01 -5.48281509e-01 -3.12972478e-03 7.56603540e+01] [ 5.48277476e-01 8.36293839e-01 -2.10325727e-03 2.48223701e+01] [ 3.77054662e-03 4.29711813e-05 9.99992891e-01 2.80384898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.220888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.68, Y:24.84, Z:0.28 [[ 8.36283512e-01 -5.48288332e-01 -3.12915454e-03 7.56829946e+01] [ 5.48284297e-01 8.36289365e-01 -2.10410531e-03 2.48383968e+01] [ 3.77053506e-03 4.39622816e-05 9.99992891e-01 2.80718529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:75.71, Y:24.85, Z:0.28 [[ 8.36076460e-01 -5.48604015e-01 -3.12857369e-03 7.57060046e+01] [ 5.48599979e-01 8.36082312e-01 -2.10496863e-03 2.48547691e+01] [ 3.77053936e-03 4.35792598e-05 9.99992891e-01 2.81193028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:75.73, Y:24.87, Z:0.28 [[ 8.36397009e-01 -5.48115188e-01 -3.12799182e-03 7.57284749e+01] [ 5.48111144e-01 8.36402857e-01 -2.10583292e-03 2.48719252e+01] [ 3.77050030e-03 4.68251805e-05 9.99992891e-01 2.82438985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:24.89, Z:0.28 [[ 8.35536421e-01 -5.49426163e-01 -3.12741443e-03 7.57494932e+01] [ 5.49422126e-01 8.35542273e-01 -2.10669006e-03 2.48880878e+01] [ 3.77055760e-03 4.19455895e-05 9.99992891e-01 2.82982043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.77, Y:24.90, Z:0.28 [[ 8.35955053e-01 -5.48789055e-01 -3.11811468e-03 7.57733513e+01] [ 5.48784962e-01 8.35960866e-01 -2.12048889e-03 2.49048968e+01] [ 3.77032294e-03 6.14589546e-05 9.99992890e-01 2.83302171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:24.92, Z:0.28 [[ 8.37132413e-01 -5.46991413e-01 -3.11733027e-03 7.57973009e+01] [ 5.46987303e-01 8.37138214e-01 -2.12165225e-03 2.49232650e+01] [ 3.77016186e-03 7.09637868e-05 9.99992890e-01 2.82943819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:75.82, Y:24.94, Z:0.28 [[ 8.37414402e-01 -5.46559554e-01 -3.12638115e-03 7.58198256e+01] [ 5.46555490e-01 8.37420236e-01 -2.10823033e-03 2.49399345e+01] [ 3.77036827e-03 5.67216565e-05 9.99992891e-01 2.82633150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:24.96, Z:0.28 [[ 8.37557076e-01 -5.46340895e-01 -3.12580700e-03 7.58418807e+01] [ 5.46336827e-01 8.37562907e-01 -2.10908126e-03 2.49566649e+01] [ 3.77033734e-03 5.87324531e-05 9.99992891e-01 2.82487369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:24.97, Z:0.28 [[ 8.37824326e-01 -5.45930977e-01 -3.12522429e-03 7.58647367e+01] [ 5.45926903e-01 8.37830153e-01 -2.10994437e-03 2.49735693e+01] [ 3.77029113e-03 6.16187071e-05 9.99992891e-01 2.82356436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:24.99, Z:0.28 [[ 8.38320441e-01 -5.45168849e-01 -3.12464577e-03 7.58897105e+01] [ 5.45164767e-01 8.38326262e-01 -2.11080076e-03 2.49909594e+01] [ 3.77021543e-03 6.60806376e-05 9.99992891e-01 2.80671391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:25.01, Z:0.28 [[ 8.38624358e-01 -5.44701188e-01 -3.13083174e-03 7.59104748e+01] [ 5.44697136e-01 8.38630200e-01 -2.10164712e-03 2.50090863e+01] [ 3.77037973e-03 5.71373834e-05 9.99992890e-01 2.80071670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:25.03, Z:0.28 [[ 8.38929214e-01 -5.44231585e-01 -3.12347741e-03 7.59331797e+01] [ 5.44227489e-01 8.38935025e-01 -2.11252090e-03 2.50260167e+01] [ 3.77009520e-03 7.23732319e-05 9.99992891e-01 2.79616527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.580888479 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:75.96, Y:25.04, Z:0.28 [[ 8.38074723e-01 -5.45546520e-01 -3.12287940e-03 7.59590861e+01] [ 5.45542431e-01 8.38080539e-01 -2.11340456e-03 2.50446279e+01] [ 3.77018495e-03 6.75277206e-05 9.99992891e-01 2.78291599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:25.06, Z:0.28 [[ 8.38110432e-01 -5.45491524e-01 -3.14656110e-03 7.59779262e+01] [ 5.45487565e-01 8.38116338e-01 -2.07839790e-03 2.50595934e+01] [ 3.77093271e-03 2.55170101e-05 9.99992890e-01 2.79393636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:25.08, Z:0.28 [[ 8.36916166e-01 -5.47322195e-01 -3.12199583e-03 7.60009025e+01] [ 5.47318113e-01 8.36921986e-01 -2.11466497e-03 2.50764397e+01] [ 3.77027002e-03 6.10724286e-05 9.99992891e-01 2.79550463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:25.09, Z:0.28 [[ 8.34003900e-01 -5.51749718e-01 -3.12142304e-03 7.60279278e+01] [ 5.51745664e-01 8.34009740e-01 -2.11551011e-03 2.50930767e+01] [ 3.77052933e-03 4.21120487e-05 9.99992891e-01 2.78947056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:25.11, Z:0.28 [[ 8.32255702e-01 -5.54383051e-01 -3.14331812e-03 7.60473291e+01] [ 5.54379137e-01 8.32261638e-01 -2.08319762e-03 2.51083250e+01] [ 3.77095253e-03 -8.83688424e-06 9.99992890e-01 2.81107866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730888479 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:76.07, Y:25.13, Z:0.28 [[ 8.29469248e-01 -5.58543670e-01 -3.12022914e-03 7.60721772e+01] [ 5.58539657e-01 8.29475117e-01 -2.11722467e-03 2.51254511e+01] [ 3.77071487e-03 1.34010437e-05 9.99992891e-01 2.82922488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760888479 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:76.10, Y:25.15, Z:0.29 [[ 8.24592467e-01 -5.65718494e-01 -3.13824396e-03 7.60982902e+01] [ 5.65714633e-01 8.24598438e-01 -2.09065424e-03 2.51458836e+01] [ 3.77051283e-03 -5.14127904e-05 9.99992890e-01 2.85170379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790888479 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:76.12, Y:25.16, Z:0.29 [[ 8.24548188e-01 -5.65782855e-01 -3.16957292e-03 7.61180176e+01] [ 5.65779171e-01 8.24554273e-01 -2.04452066e-03 2.51591019e+01] [ 3.77023963e-03 -1.07472537e-04 9.99992887e-01 2.85244521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820888479 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:76.14, Y:25.18, Z:0.29 [[ 8.24020815e-01 -5.66550865e-01 -3.13284440e-03 7.61390675e+01] [ 5.66546980e-01 8.24026769e-01 -2.09850097e-03 2.51775045e+01] [ 3.77045519e-03 -4.56950586e-05 9.99992891e-01 2.86899821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:25.19, Z:0.29 [[ 8.24723009e-01 -5.65528236e-01 -3.12617735e-03 7.61607029e+01] [ 5.65524307e-01 8.24728933e-01 -2.10828988e-03 2.51938767e+01] [ 3.77054637e-03 -2.91741122e-05 9.99992891e-01 2.85571311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88088847899999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:76.19, Y:25.21, Z:0.29 [[ 8.23775374e-01 -5.66907775e-01 -3.11566618e-03 7.61855350e+01] [ 5.66903798e-01 8.23781266e-01 -2.12371067e-03 2.52126209e+01] [ 3.77057552e-03 -1.68224393e-05 9.99992891e-01 2.87063689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.910888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.21, Y:25.23, Z:0.29 [[ 8.25389803e-01 -5.64554572e-01 -3.13189362e-03 7.62059979e+01] [ 5.64550667e-01 8.25395744e-01 -2.09990406e-03 2.52275313e+01] [ 3.77056211e-03 -3.48732377e-05 9.99992891e-01 2.87478103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:25.24, Z:0.29 [[ 8.26642765e-01 -5.62718436e-01 -3.11456445e-03 7.62322817e+01] [ 5.62714423e-01 8.26648633e-01 -2.12529947e-03 2.52447283e+01] [ 3.77059563e-03 4.25309323e-06 9.99992891e-01 2.87117000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.970888479 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:76.25, Y:25.27, Z:0.29 [[ 8.28178853e-01 -5.60455173e-01 -3.12841504e-03 7.62506591e+01] [ 5.60451220e-01 8.28184761e-01 -2.10495678e-03 2.52654491e+01] [ 3.77063957e-03 -1.00433366e-05 9.99992891e-01 2.89265182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.27, Y:25.28, Z:0.29 [[ 8.29771470e-01 -5.58094569e-01 -3.12389764e-03 7.62708678e+01] [ 5.58090575e-01 8.29777351e-01 -2.11158872e-03 2.52824928e+01] [ 3.77060570e-03 8.71825253e-06 9.99992891e-01 2.88728789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.29, Y:25.30, Z:0.29 [[ 8.30883433e-01 -5.56437790e-01 -3.11558292e-03 7.62922353e+01] [ 5.56433738e-01 8.30889273e-01 -2.12378637e-03 2.53003992e+01] [ 3.77045942e-03 3.10034608e-05 9.99992891e-01 2.88974703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:76.31, Y:25.32, Z:0.29 [[ 8.32871846e-01 -5.53457122e-01 -3.11500047e-03 7.63128968e+01] [ 5.53453045e-01 8.32877670e-01 -2.12464032e-03 2.53207165e+01] [ 3.77031164e-03 4.55466067e-05 9.99992891e-01 2.89440339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090888479 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:76.34, Y:25.34, Z:0.29 [[ 8.33387804e-01 -5.52679897e-01 -3.11441176e-03 7.63361158e+01] [ 5.52675813e-01 8.33393622e-01 -2.12550293e-03 2.53389189e+01] [ 3.77025363e-03 5.01081656e-05 9.99992891e-01 2.90055500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:76.36, Y:25.36, Z:0.29 [[ 8.34122777e-01 -5.51570010e-01 -3.11718346e-03 7.63566005e+01] [ 5.51565932e-01 8.34128600e-01 -2.12144361e-03 2.53560228e+01] [ 3.77025655e-03 5.02122320e-05 9.99992891e-01 2.88694501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:76.38, Y:25.38, Z:0.29 [[ 8.34135073e-01 -5.51551435e-01 -3.11357253e-03 7.63769772e+01] [ 5.51547338e-01 8.34140882e-01 -2.12673007e-03 2.53758391e+01] [ 3.77015916e-03 5.66974987e-05 9.99992891e-01 2.86644091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180888479 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:76.40, Y:25.39, Z:0.29 [[ 8.33711746e-01 -5.52191120e-01 -3.11299321e-03 7.63990899e+01] [ 5.52187024e-01 8.33717556e-01 -2.12757771e-03 2.53938417e+01] [ 3.77018661e-03 5.48320723e-05 9.99992891e-01 2.85174733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210888479 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:76.42, Y:25.41, Z:0.28 [[ 8.32131885e-01 -5.54569056e-01 -3.11241380e-03 7.64192802e+01] [ 5.54564974e-01 8.32137705e-01 -2.12842500e-03 2.54117702e+01] [ 3.77031551e-03 4.50946296e-05 9.99992891e-01 2.81469589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24088847899999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:76.44, Y:25.43, Z:0.28 [[ 8.30955683e-01 -5.56329958e-01 -3.10324568e-03 7.64402600e+01] [ 5.56325838e-01 8.30961476e-01 -2.14182316e-03 2.54289667e+01] [ 3.77023800e-03 5.33443722e-05 9.99992891e-01 2.80030187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27088847899999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:76.46, Y:25.45, Z:0.28 [[ 8.29217869e-01 -5.58916951e-01 -3.09316600e-03 7.64640756e+01] [ 5.58912793e-01 8.29223636e-01 -2.15654661e-03 2.54476804e+01] [ 3.77025682e-03 5.94369373e-05 9.99992891e-01 2.79624556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.300888479 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:76.49, Y:25.46, Z:0.28 [[ 8.30769570e-01 -5.56607817e-01 -3.10805245e-03 7.64871564e+01] [ 5.56603725e-01 8.30775383e-01 -2.13479787e-03 2.54630287e+01] [ 3.77033864e-03 4.35715375e-05 9.99992891e-01 2.82751149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.330888479 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:76.51, Y:25.48, Z:0.28 [[ 8.30619118e-01 -5.56832291e-01 -3.11141462e-03 7.65106950e+01] [ 5.56828218e-01 8.30624945e-01 -2.12988628e-03 2.54792415e+01] [ 3.77040805e-03 3.66007998e-05 9.99992891e-01 2.82861084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360888479 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:76.53, Y:25.50, Z:0.28 [[ 8.28996850e-01 -5.59244620e-01 -3.11083880e-03 7.65279729e+01] [ 5.59240562e-01 8.29002687e-01 -2.13072698e-03 2.54972959e+01] [ 3.77049132e-03 2.66587162e-05 9.99992891e-01 2.80385514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390888479 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:76.55, Y:25.51, Z:0.28 [[ 8.29194204e-01 -5.58952066e-01 -3.09202483e-03 7.65522785e+01] [ 5.58947903e-01 8.29199966e-01 -2.15817592e-03 2.55148870e+01] [ 3.77022377e-03 6.12661748e-05 9.99992891e-01 2.80194430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420888479 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:76.58, Y:25.53, Z:0.28 [[ 8.29732709e-01 -5.58152332e-01 -3.09930152e-03 7.65762769e+01] [ 5.58148203e-01 8.29738496e-01 -2.14755912e-03 2.55309770e+01] [ 3.77027491e-03 5.20304698e-05 9.99992891e-01 2.80548734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450888479 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:76.60, Y:25.55, Z:0.28 [[ 8.30042631e-01 -5.57691282e-01 -3.10867941e-03 7.65990529e+01] [ 5.57687201e-01 8.30048452e-01 -2.13387909e-03 2.55489781e+01] [ 3.77040030e-03 3.75398941e-05 9.99992891e-01 2.82164265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480888479 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:76.62, Y:25.57, Z:0.28 [[ 8.30700647e-01 -5.56710661e-01 -3.11052576e-03 7.66221091e+01] [ 5.56706583e-01 8.30706469e-01 -2.13118667e-03 2.55654051e+01] [ 3.77038821e-03 3.87279820e-05 9.99992891e-01 2.83414021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510888479 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:76.64, Y:25.58, Z:0.28 [[ 8.31010161e-01 -5.56248509e-01 -3.11572841e-03 7.66422013e+01] [ 5.56244456e-01 8.31016002e-01 -2.12360112e-03 2.55820295e+01] [ 3.77047012e-03 3.16274561e-05 9.99992891e-01 2.84430170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540888479 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:76.66, Y:25.60, Z:0.28 [[ 8.32073605e-01 -5.54656517e-01 -3.10888366e-03 7.66646916e+01] [ 5.54652415e-01 8.32079411e-01 -2.13357477e-03 2.56008373e+01] [ 3.77023923e-03 5.09414138e-05 9.99992891e-01 2.82886894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570888479 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:76.69, Y:25.62, Z:0.28 [[ 8.31452001e-01 -5.55587875e-01 -3.11173152e-03 7.66886131e+01] [ 5.55583796e-01 8.31457823e-01 -2.12942695e-03 2.56195902e+01] [ 3.77035731e-03 4.16886848e-05 9.99992891e-01 2.81439423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600888479 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:76.71, Y:25.63, Z:0.28 [[ 8.33072692e-01 -5.53154725e-01 -3.12094403e-03 7.67106711e+01] [ 5.53150678e-01 8.33078537e-01 -2.11602683e-03 2.56345676e+01] [ 3.77048173e-03 3.64518570e-05 9.99992891e-01 2.82684475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63088847899999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:76.73, Y:25.65, Z:0.28 [[ 8.32933942e-01 -5.53363698e-01 -3.10898652e-03 7.67349364e+01] [ 5.53359588e-01 8.32939743e-01 -2.13340312e-03 2.56519121e+01] [ 3.77014627e-03 5.65963729e-05 9.99992891e-01 2.81967848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.660888479 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:76.76, Y:25.67, Z:0.28 [[ 8.33709492e-01 -5.52194455e-01 -3.12535118e-03 7.67571529e+01] [ 5.52190426e-01 8.33715349e-01 -2.10958539e-03 2.56687253e+01] [ 3.77055460e-03 3.29923616e-05 9.99992891e-01 2.80829418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.690888479 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:76.78, Y:25.68, Z:0.28 [[ 8.35138336e-01 -5.50031077e-01 -3.12631100e-03 7.67785067e+01] [ 5.50027039e-01 8.35144186e-01 -2.10818961e-03 2.56832162e+01] [ 3.77049026e-03 4.10743768e-05 9.99992891e-01 2.81488576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.720888479 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:76.80, Y:25.70, Z:0.28 [[ 8.34458868e-01 -5.51061460e-01 -3.10879029e-03 7.68016341e+01] [ 5.51057333e-01 8.34464657e-01 -2.13363820e-03 2.57005127e+01] [ 3.76994140e-03 6.73116304e-05 9.99992891e-01 2.80869135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750888479 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:76.82, Y:25.72, Z:0.28 [[ 8.35397133e-01 -5.49638014e-01 -3.11196932e-03 7.68241672e+01] [ 5.49633894e-01 8.35402926e-01 -2.12902311e-03 2.57155039e+01] [ 3.76994031e-03 6.81359828e-05 9.99992891e-01 2.79997415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780888479 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:76.85, Y:25.73, Z:0.28 [[ 8.35988232e-01 -5.48738579e-01 -3.10604562e-03 7.68498576e+01] [ 5.48734421e-01 8.35993998e-01 -2.13762036e-03 2.57317074e+01] [ 3.76963026e-03 8.26313159e-05 9.99992892e-01 2.82295021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810888479 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:76.87, Y:25.75, Z:0.28 [[ 8.35704511e-01 -5.49170524e-01 -3.11552784e-03 7.68712627e+01] [ 5.49166421e-01 8.35710316e-01 -2.12385867e-03 2.57458664e+01] [ 3.77003933e-03 6.39749994e-05 9.99992891e-01 2.79272889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840888479 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:76.90, Y:25.76, Z:0.28 [[ 8.37507461e-01 -5.46417068e-01 -3.10504373e-03 7.68966248e+01] [ 5.46412889e-01 8.37513211e-01 -2.13905377e-03 2.57593790e+01] [ 3.76933064e-03 9.48375751e-05 9.99992892e-01 2.82758447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870888479 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:76.92, Y:25.77, Z:0.28 [[ 8.38892890e-01 -5.44287669e-01 -3.10692931e-03 7.69196111e+01] [ 5.44283486e-01 8.38898637e-01 -2.13632195e-03 2.57734541e+01] [ 3.76917246e-03 1.01094984e-04 9.99992892e-01 2.81786377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900888479 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:76.94, Y:25.79, Z:0.28 [[ 8.39428429e-01 -5.43461387e-01 -3.10370103e-03 7.69409317e+01] [ 5.43457181e-01 8.39434160e-01 -2.14099713e-03 2.57880420e+01] [ 3.76890193e-03 1.10485247e-04 9.99992892e-01 2.80408997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930888479 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:76.97, Y:25.80, Z:0.28 [[ 8.40066285e-01 -5.42474944e-01 -3.09393139e-03 7.69668070e+01] [ 5.42470679e-01 8.40071972e-01 -2.15514676e-03 2.58036551e+01] [ 3.76823816e-03 1.32099068e-04 9.99992891e-01 2.82720166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:76.99, Y:25.82, Z:0.28 [[ 8.40147365e-01 -5.42349325e-01 -3.10071374e-03 7.69913239e+01] [ 5.42345095e-01 8.40153078e-01 -2.14532668e-03 2.58176935e+01] [ 3.76859067e-03 1.20733666e-04 9.99992892e-01 2.82807251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99088847899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:77.02, Y:25.83, Z:0.28 [[ 8.41069132e-01 -5.40918743e-01 -3.10301739e-03 7.70160283e+01] [ 5.40914516e-01 8.41074847e-01 -2.14199249e-03 2.58306452e+01] [ 3.76851376e-03 1.23096618e-04 9.99992892e-01 2.84158212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02088847899999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:77.04, Y:25.84, Z:0.29 [[ 8.40225060e-01 -5.42228945e-01 -3.10160716e-03 7.70432912e+01] [ 5.42224719e-01 8.40230776e-01 -2.14403254e-03 2.58419934e+01] [ 3.76862230e-03 1.19701797e-04 9.99992892e-01 2.88892207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.050888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:77.07, Y:25.86, Z:0.29 [[ 8.38282611e-01 -5.45227137e-01 -3.10393948e-03 7.70651586e+01] [ 5.45222944e-01 8.38288351e-01 -2.14066110e-03 2.58562213e+01] [ 3.76914283e-03 1.02139953e-04 9.99992892e-01 2.85655330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.080888479 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:77.09, Y:25.87, Z:0.28 [[ 8.36684797e-01 -5.47676024e-01 -3.08589921e-03 7.70880758e+01] [ 5.47671752e-01 8.36690479e-01 -2.16674635e-03 2.58706702e+01] [ 3.76861751e-03 1.22823905e-04 9.99992891e-01 2.81828990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:77.12, Y:25.88, Z:0.29 [[ 8.36250246e-01 -5.48339338e-01 -3.08178394e-03 7.71185412e+01] [ 5.48335048e-01 8.36255914e-01 -2.17268999e-03 2.58826112e+01] [ 3.76853144e-03 1.27062394e-04 9.99992891e-01 2.87268989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140888479 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:77.14, Y:25.90, Z:0.28 [[ 8.32888221e-01 -5.53432561e-01 -3.10032639e-03 7.71383107e+01] [ 5.53428406e-01 8.32893988e-01 -2.14590048e-03 2.58968626e+01] [ 3.76985441e-03 7.14865374e-05 9.99992892e-01 2.84146899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:77.17, Y:25.91, Z:0.29 [[ 8.33165309e-01 -5.53015465e-01 -3.07621918e-03 7.71682584e+01] [ 5.53011178e-01 8.33170980e-01 -2.18069095e-03 2.59106998e+01] [ 3.76897237e-03 1.15692460e-04 9.99992891e-01 2.87430848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:77.19, Y:25.92, Z:0.29 [[ 8.29676300e-01 -5.58236176e-01 -3.09968231e-03 7.71942551e+01] [ 5.58232051e-01 8.29682089e-01 -2.14681367e-03 2.59226220e+01] [ 3.77017995e-03 5.08184118e-05 9.99992892e-01 2.88516698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:77.21, Y:25.94, Z:0.29 [[ 8.26828806e-01 -5.62445127e-01 -3.09907377e-03 7.72142100e+01] [ 5.62441027e-01 8.26834614e-01 -2.14769177e-03 2.59369414e+01] [ 3.77038024e-03 3.27271895e-05 9.99992892e-01 2.86716069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:77.24, Y:25.95, Z:0.29 [[ 8.26557021e-01 -5.62844537e-01 -3.08511162e-03 7.72404658e+01] [ 5.62840365e-01 8.26562777e-01 -2.16782566e-03 2.59510695e+01] [ 3.77018726e-03 5.54061667e-05 9.99992891e-01 2.87994543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:77.26, Y:25.97, Z:0.29 [[ 8.25129513e-01 -5.64935115e-01 -3.09866883e-03 7.72648238e+01] [ 5.64931031e-01 8.25135331e-01 -2.14827073e-03 2.59656676e+01] [ 3.77045470e-03 2.20674017e-05 9.99992892e-01 2.87092432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.29, Y:25.98, Z:0.29 [[ 8.23854218e-01 -5.66793286e-01 -3.09807685e-03 7.72896371e+01] [ 5.66789211e-01 8.23860043e-01 -2.14912409e-03 2.59800349e+01] [ 3.77049084e-03 1.46084111e-05 9.99992892e-01 2.85928773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.31, Y:25.99, Z:0.28 [[ 8.19967881e-01 -5.72401153e-01 -3.09746901e-03 7.73084944e+01] [ 5.72397115e-01 8.19973732e-01 -2.14999981e-03 2.59919093e+01] [ 3.77050559e-03 -1.00515382e-05 9.99992892e-01 2.80164283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:26.01, Z:0.29 [[ 8.21223726e-01 -5.70598105e-01 -3.06508204e-03 7.73374285e+01] [ 5.70593880e-01 8.21229444e-01 -2.19642782e-03 2.60082112e+01] [ 3.77041318e-03 5.48415833e-05 9.99992890e-01 2.85862186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:26.02, Z:0.28 [[ 8.21654545e-01 -5.69977402e-01 -3.09352534e-03 7.73611611e+01] [ 5.69973326e-01 8.21660369e-01 -2.15563210e-03 2.60241329e+01] [ 3.77048875e-03 7.95798398e-06 9.99992892e-01 2.84020132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:26.04, Z:0.28 [[ 8.23164271e-01 -5.67794875e-01 -3.09242738e-03 7.73841124e+01] [ 5.67790778e-01 8.23170079e-01 -2.15720606e-03 2.60389758e+01] [ 3.77044424e-03 1.98832096e-05 9.99992892e-01 2.81233938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:26.05, Z:0.28 [[ 8.24091517e-01 -5.66448242e-01 -3.09202915e-03 7.74080371e+01] [ 5.66444133e-01 8.24097317e-01 -2.15777672e-03 2.60539055e+01] [ 3.77040175e-03 2.67437167e-05 9.99992892e-01 2.81549153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:26.07, Z:0.28 [[ 8.25046190e-01 -5.65056835e-01 -3.09144469e-03 7.74315474e+01] [ 5.65052713e-01 8.25051981e-01 -2.15861374e-03 2.60685948e+01] [ 3.77034202e-03 3.41268312e-05 9.99992892e-01 2.82967223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:26.08, Z:0.29 [[ 8.27688554e-01 -5.61179209e-01 -3.09085564e-03 7.74554638e+01] [ 5.61175057e-01 8.27694323e-01 -2.15945685e-03 2.60816433e+01] [ 3.77012596e-03 5.28466298e-05 9.99992892e-01 2.85082777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.49, Y:26.10, Z:0.29 [[ 8.31190153e-01 -5.55979656e-01 -3.09059986e-03 7.74860063e+01] [ 5.55975466e-01 8.31195895e-01 -2.15982287e-03 2.60962135e+01] [ 3.76971149e-03 7.69258070e-05 9.99992892e-01 2.87015146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:26.11, Z:0.29 [[ 8.32363275e-01 -5.54221663e-01 -3.11877250e-03 7.75033253e+01] [ 5.54217611e-01 8.32369117e-01 -2.11948110e-03 2.61122175e+01] [ 3.77063225e-03 3.56995861e-05 9.99992891e-01 2.86747088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.53, Y:26.13, Z:0.29 [[ 8.33898480e-01 -5.51909212e-01 -3.08978655e-03 7.75262295e+01] [ 5.51904990e-01 8.33904198e-01 -2.16092647e-03 2.61270864e+01] [ 3.76922120e-03 9.67246770e-05 9.99992892e-01 2.86115612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:26.14, Z:0.29 [[ 8.36991607e-01 -5.47207004e-01 -3.08952622e-03 7.75565870e+01] [ 5.47202749e-01 8.36997300e-01 -2.16129861e-03 2.61413044e+01] [ 3.76860284e-03 1.18391556e-04 9.99992892e-01 2.85935409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:26.16, Z:0.28 [[ 8.37690583e-01 -5.46136208e-01 -3.11936825e-03 7.75744593e+01] [ 5.46132103e-01 8.37696388e-01 -2.11860776e-03 2.61559536e+01] [ 3.77013192e-03 7.11506325e-05 9.99992890e-01 2.84181875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:26.17, Z:0.28 [[ 8.38669471e-01 -5.44631965e-01 -3.08866228e-03 7.75984252e+01] [ 5.44627688e-01 8.38675149e-01 -2.16246529e-03 2.61708970e+01] [ 3.76813202e-03 1.31422625e-04 9.99992892e-01 2.83564676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74088847899999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:77.63, Y:26.19, Z:0.28 [[ 8.40377846e-01 -5.41992196e-01 -3.08807642e-03 7.76273591e+01] [ 5.41987898e-01 8.40383507e-01 -2.16330160e-03 2.61857714e+01] [ 3.76766108e-03 1.44290694e-04 9.99992892e-01 2.83261709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:26.20, Z:0.28 [[ 8.39915270e-01 -5.42708638e-01 -3.11026858e-03 7.76458384e+01] [ 5.42704461e-01 8.39921022e-01 -2.13160863e-03 2.62009249e+01] [ 3.76922238e-03 1.02413998e-04 9.99992891e-01 2.84417684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:26.21, Z:0.29 [[ 8.40633968e-01 -5.41594869e-01 -3.08720752e-03 7.76703209e+01] [ 5.41590564e-01 8.40639623e-01 -2.16450043e-03 2.62141896e+01] [ 3.76751129e-03 1.47550125e-04 9.99992892e-01 2.85183775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.830888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.69, Y:26.23, Z:0.28 [[ 8.39984591e-01 -5.42601474e-01 -3.08660472e-03 7.76917692e+01] [ 5.42597173e-01 8.39990250e-01 -2.16535967e-03 2.62278947e+01] [ 3.76764522e-03 1.44085764e-04 9.99992892e-01 2.84935190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860888479 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:77.72, Y:26.24, Z:0.28 [[ 8.40381501e-01 -5.41986652e-01 -3.06620672e-03 7.77227709e+01] [ 5.41982241e-01 8.40387075e-01 -2.19431952e-03 2.62437646e+01] [ 3.76609238e-03 1.82235944e-04 9.99992892e-01 2.84541740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:26.26, Z:0.28 [[ 8.37809550e-01 -5.45953724e-01 -3.11267670e-03 7.77426671e+01] [ 5.45949582e-01 8.37815328e-01 -2.12821239e-03 2.62550006e+01] [ 3.76975373e-03 8.36721242e-05 9.99992891e-01 2.80760950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.77, Y:26.27, Z:0.28 [[ 8.35918185e-01 -5.48845431e-01 -3.07896172e-03 7.77680940e+01] [ 5.48841132e-01 8.35923846e-01 -2.17614120e-03 2.62716571e+01] [ 3.76814268e-03 1.29215162e-04 9.99992892e-01 2.82509609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:77.78, Y:26.28, Z:0.28 [[ 8.32847904e-01 -5.53493323e-01 -3.08373190e-03 7.77848134e+01] [ 5.53489081e-01 8.32853607e-01 -2.16936041e-03 2.62849470e+01] [ 3.76902374e-03 9.99353349e-05 9.99992892e-01 2.84005824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:26.30, Z:0.28 [[ 8.32062651e-01 -5.54673313e-01 -3.04325850e-03 7.78187486e+01] [ 5.54668867e-01 8.32068200e-01 -2.22676444e-03 2.62981100e+01] [ 3.76732543e-03 1.64806774e-04 9.99992890e-01 2.81217219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:26.31, Z:0.28 [[ 8.30036589e-01 -5.57700391e-01 -3.08778879e-03 7.78415749e+01] [ 5.57696199e-01 8.30042330e-01 -2.16352185e-03 2.63131708e+01] [ 3.76959238e-03 7.37542220e-05 9.99992892e-01 2.79832095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:26.33, Z:0.28 [[ 8.28968937e-01 -5.59286166e-01 -3.07979924e-03 7.78690458e+01] [ 5.59281944e-01 8.28974654e-01 -2.17486144e-03 2.63286675e+01] [ 3.76944543e-03 8.04164699e-05 9.99992892e-01 2.81955965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:26.34, Z:0.28 [[ 8.24653694e-01 -5.65629472e-01 -3.09591085e-03 7.78909342e+01] [ 5.65625379e-01 8.24659505e-01 -2.15199431e-03 2.63434917e+01] [ 3.77030372e-03 2.35243092e-05 9.99992892e-01 2.83015655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:77.91, Y:26.36, Z:0.28 [[ 8.23775905e-01 -5.66907170e-01 -3.08526302e-03 7.79131051e+01] [ 5.66903029e-01 8.23781682e-01 -2.16709488e-03 2.63569684e+01] [ 3.77012478e-03 3.61555957e-05 9.99992892e-01 2.83264511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13088847899999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:77.94, Y:26.37, Z:0.29 [[ 8.21685659e-01 -5.69932632e-01 -3.07785006e-03 7.79357011e+01] [ 5.69928473e-01 8.21691423e-01 -2.17760088e-03 2.63738540e+01] [ 3.77012880e-03 3.51490286e-05 9.99992892e-01 2.86025699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:26.39, Z:0.29 [[ 8.20255409e-01 -5.71989140e-01 -3.08018735e-03 7.79570847e+01] [ 5.71985008e-01 8.20261192e-01 -2.17428979e-03 2.63911228e+01] [ 3.77022829e-03 2.16519755e-05 9.99992892e-01 2.87175740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:26.41, Z:0.29 [[ 8.20595562e-01 -5.71501071e-01 -3.07407147e-03 7.79808098e+01] [ 5.71496903e-01 8.20601319e-01 -2.18294958e-03 2.64074984e+01] [ 3.77014513e-03 3.44964139e-05 9.99992892e-01 2.88466671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:26.43, Z:0.29 [[ 8.19250124e-01 -5.73428047e-01 -3.08368140e-03 7.80021569e+01] [ 5.73423943e-01 8.19255928e-01 -2.16934508e-03 2.64256235e+01] [ 3.77028758e-03 8.97947708e-06 9.99992892e-01 2.88537178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:26.44, Z:0.29 [[ 8.19192298e-01 -5.73510704e-01 -3.07429112e-03 7.80245971e+01] [ 5.73506551e-01 8.19198067e-01 -2.18263023e-03 2.64415862e+01] [ 3.77021514e-03 2.48677739e-05 9.99992892e-01 2.88633775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:26.46, Z:0.29 [[ 8.18188394e-01 -5.74942000e-01 -3.07396528e-03 7.80463289e+01] [ 5.74937855e-01 8.18194168e-01 -2.18309110e-03 2.64587449e+01] [ 3.77025123e-03 1.88407964e-05 9.99992892e-01 2.88884915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:26.48, Z:0.29 [[ 8.18244542e-01 -5.74862064e-01 -3.07837677e-03 7.80686904e+01] [ 5.74857942e-01 8.18250333e-01 -2.17685263e-03 2.64752251e+01] [ 3.77027282e-03 1.15684452e-05 9.99992892e-01 2.91952198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.09, Y:26.49, Z:0.29 [[ 8.17669523e-01 -5.75679691e-01 -3.07302111e-03 7.80936257e+01] [ 5.75675547e-01 8.17675298e-01 -2.18442297e-03 2.64926628e+01] [ 3.77026139e-03 1.70729813e-05 9.99992892e-01 2.89513171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:26.51, Z:0.29 [[ 8.16997466e-01 -5.76633036e-01 -3.07920789e-03 7.81155764e+01] [ 5.76628932e-01 8.17003269e-01 -2.17568019e-03 2.65095711e+01] [ 3.77029199e-03 1.96484140e-06 9.99992892e-01 2.88855583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:26.53, Z:0.29 [[ 8.17184622e-01 -5.76367786e-01 -3.07718610e-03 7.81371007e+01] [ 5.76363669e-01 8.17190415e-01 -2.17853597e-03 2.65274823e+01] [ 3.77028495e-03 6.68781969e-06 9.99992892e-01 2.87343143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:26.54, Z:0.29 [[ 8.17344558e-01 -5.76140960e-01 -3.07700094e-03 7.81580025e+01] [ 5.76136840e-01 8.17350350e-01 -2.17879747e-03 2.65443031e+01] [ 3.77028226e-03 8.05466241e-06 9.99992892e-01 2.86923814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:26.56, Z:0.29 [[ 8.17519281e-01 -5.75893009e-01 -3.07674396e-03 7.81801318e+01] [ 5.75888886e-01 8.17525071e-01 -2.17916030e-03 2.65613357e+01] [ 3.77027851e-03 9.64290705e-06 9.99992892e-01 2.86740504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49088847899999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:78.20, Y:26.58, Z:0.29 [[ 8.17809859e-01 -5.75480297e-01 -3.07614896e-03 7.82017468e+01] [ 5.75476168e-01 8.17815644e-01 -2.17999989e-03 2.65785843e+01] [ 3.77026973e-03 1.25749894e-05 9.99992892e-01 2.87069204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:26.59, Z:0.29 [[ 8.17930545e-01 -5.75308754e-01 -3.07596460e-03 7.82241716e+01] [ 5.75304623e-01 8.17936328e-01 -2.18025998e-03 2.65948057e+01] [ 3.77026585e-03 1.36845751e-05 9.99992892e-01 2.88072885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.550888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:78.25, Y:26.61, Z:0.29 [[ 8.18698962e-01 -5.74214726e-01 -3.07539112e-03 7.82456741e+01] [ 5.74210584e-01 8.18704738e-01 -2.18106861e-03 2.66103680e+01] [ 3.77023900e-03 1.97164780e-05 9.99992892e-01 2.90812587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:26.63, Z:0.29 [[ 8.18505103e-01 -5.74491069e-01 -3.06728400e-03 7.82691735e+01] [ 5.74486886e-01 8.18510849e-01 -2.19249160e-03 2.66275016e+01] [ 3.77017207e-03 3.24511269e-05 9.99992892e-01 2.90550753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:26.65, Z:0.29 [[ 8.17128978e-01 -5.76446685e-01 -3.07462081e-03 7.82880206e+01] [ 5.76442554e-01 8.17134762e-01 -2.18215414e-03 2.66456521e+01] [ 3.77027507e-03 1.07591050e-05 9.99992892e-01 2.88481131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:26.66, Z:0.29 [[ 8.18841552e-01 -5.74011472e-01 -3.05665069e-03 7.83152862e+01] [ 5.74007229e-01 8.18847255e-01 -2.20745673e-03 2.66613262e+01] [ 3.77003551e-03 5.30177005e-05 9.99992892e-01 2.90830672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.34, Y:26.68, Z:0.29 [[ 8.19412919e-01 -5.73195445e-01 -3.07424951e-03 7.83384022e+01] [ 5.73191290e-01 8.19418685e-01 -2.18266912e-03 2.66776788e+01] [ 3.77019349e-03 2.63742371e-05 9.99992892e-01 2.91834255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.36, Y:26.69, Z:0.29 [[ 8.19339962e-01 -5.73299729e-01 -3.07365042e-03 7.83612956e+01] [ 5.73295571e-01 8.19345727e-01 -2.18351243e-03 2.66940315e+01] [ 3.77018942e-03 2.69288180e-05 9.99992892e-01 2.92632311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:78.38, Y:26.71, Z:0.29 [[ 8.18970196e-01 -5.73827826e-01 -3.07305302e-03 7.83831287e+01] [ 5.73823669e-01 8.18975961e-01 -2.18435288e-03 2.67103914e+01] [ 3.77019902e-03 2.55293414e-05 9.99992892e-01 2.92406130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.41, Y:26.73, Z:0.29 [[ 8.18740301e-01 -5.74155796e-01 -3.07264647e-03 7.84061162e+01] [ 5.74151639e-01 8.18746067e-01 -2.18492462e-03 2.67269655e+01] [ 3.77020434e-03 2.47208327e-05 9.99992892e-01 2.92108689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:78.43, Y:26.74, Z:0.29 [[ 8.18896685e-01 -5.73932733e-01 -3.07205791e-03 7.84280439e+01] [ 5.73928572e-01 8.18902447e-01 -2.18575183e-03 2.67429975e+01] [ 3.77019026e-03 2.67631165e-05 9.99992892e-01 2.91311082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:26.76, Z:0.29 [[ 8.18796937e-01 -5.74075030e-01 -3.07180307e-03 7.84502481e+01] [ 5.74070868e-01 8.18802699e-01 -2.18610992e-03 2.67594630e+01] [ 3.77019176e-03 2.65474548e-05 9.99992892e-01 2.89799328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:26.78, Z:0.29 [[ 8.18532057e-01 -5.74452643e-01 -3.07120849e-03 7.84718321e+01] [ 5.74448480e-01 8.18537819e-01 -2.18694490e-03 2.67758937e+01] [ 3.77019658e-03 2.58334589e-05 9.99992892e-01 2.88164662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:26.79, Z:0.29 [[ 8.17490908e-01 -5.75933316e-01 -3.07095002e-03 7.84931969e+01] [ 5.75929163e-01 8.17496676e-01 -2.18730780e-03 2.67925849e+01] [ 3.77023486e-03 1.94545649e-05 9.99992892e-01 2.85043996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:26.81, Z:0.28 [[ 8.16669171e-01 -5.77097944e-01 -3.07055722e-03 7.85159699e+01] [ 5.77093797e-01 8.16674943e-01 -2.18785907e-03 2.68091283e+01] [ 3.77025612e-03 1.47575273e-05 9.99992892e-01 2.84337573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:26.82, Z:0.28 [[ 8.16112047e-01 -5.77885545e-01 -3.06996815e-03 7.85377096e+01] [ 5.77881400e-01 8.16117821e-01 -2.18868533e-03 2.68246816e+01] [ 3.77026533e-03 1.21349708e-05 9.99992892e-01 2.83263763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:26.84, Z:0.28 [[ 8.14723614e-01 -5.79841365e-01 -3.06971264e-03 7.85602811e+01] [ 5.79837233e-01 8.14729397e-01 -2.18904364e-03 2.68416126e+01] [ 3.77028318e-03 3.53185844e-06 9.99992892e-01 2.84168966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:26.86, Z:0.28 [[ 8.14096155e-01 -5.80721991e-01 -3.06911741e-03 7.85826565e+01] [ 5.80717862e-01 8.14101941e-01 -2.18987785e-03 2.68573261e+01] [ 3.77028466e-03 4.79837920e-07 9.99992892e-01 2.84575023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:26.87, Z:0.28 [[ 8.13349820e-01 -5.81766837e-01 -3.06885969e-03 7.86052802e+01] [ 5.81762714e-01 8.13355610e-01 -2.19023896e-03 2.68735383e+01] [ 3.77028263e-03 -3.91767877e-06 9.99992892e-01 2.84956619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:26.89, Z:0.28 [[ 8.11524627e-01 -5.84310162e-01 -3.06827272e-03 7.86276720e+01] [ 5.84306054e-01 8.11530427e-01 -2.19106092e-03 2.68898988e+01] [ 3.77025584e-03 -1.47104296e-05 9.99992892e-01 2.84764923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:26.91, Z:0.28 [[ 8.10698321e-01 -5.85456080e-01 -3.06767560e-03 7.86510826e+01] [ 5.85451977e-01 8.10704125e-01 -2.19189663e-03 2.69062257e+01] [ 3.77023647e-03 -1.90098326e-05 9.99992892e-01 2.84290594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:26.92, Z:0.28 [[ 8.09811354e-01 -5.86682337e-01 -3.06707698e-03 7.86735551e+01] [ 5.86678240e-01 8.09817161e-01 -2.19273394e-03 2.69223212e+01] [ 3.77020985e-03 -2.36864803e-05 9.99992892e-01 2.84219067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:26.94, Z:0.28 [[ 8.08534264e-01 -5.88441111e-01 -3.06647735e-03 7.86961013e+01] [ 5.88437023e-01 8.08540078e-01 -2.19357219e-03 2.69389368e+01] [ 3.77015789e-03 -3.08505266e-05 9.99992892e-01 2.83695037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.72, Y:26.96, Z:0.28 [[ 8.08047007e-01 -5.89110036e-01 -3.06587086e-03 7.87184351e+01] [ 5.89105950e-01 8.08052823e-01 -2.19441953e-03 2.69556649e+01] [ 3.77014017e-03 -3.29286362e-05 9.99992892e-01 2.83393621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:26.97, Z:0.28 [[ 8.07849426e-01 -5.89380954e-01 -3.06526632e-03 7.87401756e+01] [ 5.89376866e-01 8.07855241e-01 -2.19526365e-03 2.69720520e+01] [ 3.77013805e-03 -3.31545795e-05 9.99992892e-01 2.83527846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:26.99, Z:0.28 [[ 8.08817073e-01 -5.88052335e-01 -3.06485726e-03 7.87624410e+01] [ 5.88048236e-01 8.08822879e-01 -2.19583461e-03 2.69887289e+01] [ 3.77019234e-03 -2.62553809e-05 9.99992892e-01 2.84388863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.78, Y:27.01, Z:0.28 [[ 8.09630633e-01 -5.86931723e-01 -3.06426361e-03 7.87845397e+01] [ 5.86927613e-01 8.09636432e-01 -2.19666272e-03 2.70051082e+01] [ 3.77023049e-03 -2.00154951e-05 9.99992892e-01 2.84909287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:27.02, Z:0.29 [[ 8.10523377e-01 -5.85698273e-01 -3.06400575e-03 7.88070439e+01] [ 5.85694153e-01 8.10529168e-01 -2.19702234e-03 2.70219285e+01] [ 3.77025822e-03 -1.38322908e-05 9.99992892e-01 2.85931306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.330888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:78.83, Y:27.04, Z:0.29 [[ 8.12926320e-01 -5.82358492e-01 -3.06341297e-03 7.88280371e+01] [ 5.82354345e-01 8.12932092e-01 -2.19784857e-03 2.70389621e+01] [ 3.77028250e-03 2.69709258e-06 9.99992892e-01 2.85056426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:27.06, Z:0.28 [[ 8.13846700e-01 -5.81071567e-01 -3.06315609e-03 7.88499765e+01] [ 5.81067410e-01 8.13852464e-01 -2.19820653e-03 2.70565181e+01] [ 3.77027244e-03 9.10295354e-06 9.99992892e-01 2.83992865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:27.07, Z:0.28 [[ 8.14667866e-01 -5.79919726e-01 -3.06255992e-03 7.88717730e+01] [ 5.79915556e-01 8.14673623e-01 -2.19903680e-03 2.70736659e+01] [ 3.77025160e-03 1.54584827e-05 9.99992892e-01 2.83015901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.89, Y:27.09, Z:0.28 [[ 8.16169496e-01 -5.77804446e-01 -3.06195090e-03 7.88935979e+01] [ 5.77800259e-01 8.16175239e-01 -2.19988447e-03 2.70903535e+01] [ 3.77019154e-03 2.62825763e-05 9.99992892e-01 2.82983853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:78.92, Y:27.11, Z:0.28 [[ 8.16712143e-01 -5.77037175e-01 -3.06176211e-03 7.89165591e+01] [ 5.77032982e-01 8.16717881e-01 -2.20014720e-03 2.71063969e+01] [ 3.77016259e-03 3.01492130e-05 9.99992892e-01 2.84922458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:27.12, Z:0.29 [[ 8.17148069e-01 -5.76419693e-01 -3.06115006e-03 7.89392504e+01] [ 5.76415492e-01 8.17153802e-01 -2.20099844e-03 2.71223589e+01] [ 3.77012926e-03 3.40473014e-05 9.99992892e-01 2.86765043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.96, Y:27.14, Z:0.29 [[ 8.17547839e-01 -5.75852555e-01 -3.06053256e-03 7.89608970e+01] [ 5.75848346e-01 8.17553566e-01 -2.20185676e-03 2.71380977e+01] [ 3.77009415e-03 3.77206184e-05 9.99992892e-01 2.88181912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:27.16, Z:0.29 [[ 8.18068441e-01 -5.75112737e-01 -3.06026678e-03 7.89835993e+01] [ 5.75108523e-01 8.18074164e-01 -2.20222609e-03 2.71553716e+01] [ 3.77005346e-03 4.15861618e-05 9.99992892e-01 2.89929644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:27.17, Z:0.29 [[ 8.18068907e-01 -5.75112078e-01 -3.05966124e-03 7.90062021e+01] [ 5.75107860e-01 8.18074627e-01 -2.20306707e-03 2.71717412e+01] [ 3.77004171e-03 4.26254388e-05 9.99992892e-01 2.90115057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:27.19, Z:0.29 [[ 8.17898503e-01 -5.75354396e-01 -3.05905592e-03 7.90288124e+01] [ 5.75350177e-01 8.17904222e-01 -2.20390727e-03 2.71878069e+01] [ 3.77004249e-03 4.25440954e-05 9.99992892e-01 2.90340757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:27.20, Z:0.29 [[ 8.17713099e-01 -5.75617871e-01 -3.05845072e-03 7.90512227e+01] [ 5.75613650e-01 8.17718818e-01 -2.20474681e-03 2.72026458e+01] [ 3.77004437e-03 4.23643707e-05 9.99992892e-01 2.90109788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:27.22, Z:0.29 [[ 8.17160722e-01 -5.76401771e-01 -3.05818834e-03 7.90743470e+01] [ 5.76397555e-01 8.17166444e-01 -2.20511069e-03 2.72187848e+01] [ 3.77007860e-03 3.91975662e-05 9.99992892e-01 2.89819688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.690888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.10, Y:27.23, Z:0.29 [[ 8.16490492e-01 -5.77350784e-01 -3.05758042e-03 7.90960154e+01] [ 5.77346571e-01 8.16496216e-01 -2.20595331e-03 2.72342239e+01] [ 3.77011171e-03 3.58563344e-05 9.99992892e-01 2.89317382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:27.25, Z:0.29 [[ 8.14940297e-01 -5.79536854e-01 -3.05731698e-03 7.91187708e+01] [ 5.79532655e-01 8.14946031e-01 -2.20631836e-03 2.72502118e+01] [ 3.77019114e-03 2.62027162e-05 9.99992892e-01 2.88245251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:27.27, Z:0.29 [[ 8.14138010e-01 -5.80663377e-01 -3.05671061e-03 7.91405246e+01] [ 5.80659183e-01 8.14143748e-01 -2.20715812e-03 2.72660375e+01] [ 3.77021772e-03 2.20242364e-05 9.99992892e-01 2.87113032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:27.28, Z:0.29 [[ 8.13066139e-01 -5.82163304e-01 -3.05644863e-03 7.91621192e+01] [ 5.82159119e-01 8.13071883e-01 -2.20752085e-03 2.72818600e+01] [ 3.77025008e-03 1.55210149e-05 9.99992892e-01 2.86081882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:27.30, Z:0.29 [[ 8.10632286e-01 -5.85547569e-01 -3.05618916e-03 7.91855220e+01] [ 5.85543407e-01 8.10638047e-01 -2.20788001e-03 2.72977948e+01] [ 3.77028199e-03 2.47404555e-07 9.99992892e-01 2.85164679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:27.31, Z:0.29 [[ 8.09245764e-01 -5.87462302e-01 -3.05559380e-03 7.92075791e+01] [ 5.87458150e-01 8.09251533e-01 -2.20870365e-03 2.73132765e+01] [ 3.77027410e-03 -7.64940749e-06 9.99992892e-01 2.85511898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:27.33, Z:0.29 [[ 8.07798045e-01 -5.89451425e-01 -3.05533575e-03 7.92300256e+01] [ 5.89447286e-01 8.07803823e-01 -2.20906056e-03 2.73294232e+01] [ 3.77024580e-03 -1.64845636e-05 9.99992892e-01 2.86650130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:79.25, Y:27.35, Z:0.29 [[ 8.05972003e-01 -5.91945774e-01 -3.05473151e-03 7.92523245e+01] [ 5.91941649e-01 8.05977792e-01 -2.20989580e-03 2.73465385e+01] [ 3.77018424e-03 -2.71086675e-05 9.99992892e-01 2.87803399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:79.27, Y:27.36, Z:0.29 [[ 8.05473739e-01 -5.92623598e-01 -3.05412705e-03 7.92743392e+01] [ 5.92619475e-01 8.05479528e-01 -2.21073087e-03 2.73630672e+01] [ 3.77016809e-03 -2.92495104e-05 9.99992892e-01 2.87905693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:27.38, Z:0.29 [[ 8.05074408e-01 -5.93165973e-01 -3.05386519e-03 7.92967968e+01] [ 5.93161853e-01 8.05080199e-01 -2.21109253e-03 2.73801853e+01] [ 3.77015125e-03 -3.13423228e-05 9.99992892e-01 2.88643861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.32, Y:27.40, Z:0.29 [[ 8.05035805e-01 -5.93218366e-01 -3.05327640e-03 7.93188631e+01] [ 5.93214243e-01 8.05041595e-01 -2.21190528e-03 2.73972593e+01] [ 3.77015734e-03 -3.05840992e-05 9.99992892e-01 2.89261604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:27.42, Z:0.29 [[ 8.06187532e-01 -5.91652216e-01 -3.05267701e-03 7.93404098e+01] [ 5.91648079e-01 8.06193311e-01 -2.21273220e-03 2.74152470e+01] [ 3.77021570e-03 -2.22333752e-05 9.99992892e-01 2.89746262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:27.43, Z:0.29 [[ 8.07207619e-01 -5.90259726e-01 -3.05207866e-03 7.93624274e+01] [ 5.90255576e-01 8.07213389e-01 -2.21355722e-03 2.74324196e+01] [ 3.77025244e-03 -1.47061946e-05 9.99992892e-01 2.89432500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:27.45, Z:0.29 [[ 8.09585094e-01 -5.86994603e-01 -3.05148177e-03 7.93824535e+01] [ 5.86990426e-01 8.09590845e-01 -2.21437975e-03 2.74509954e+01] [ 3.77028067e-03 1.53825808e-06 9.99992892e-01 2.89233017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:27.47, Z:0.29 [[ 8.10623849e-01 -5.85559276e-01 -3.05122305e-03 7.94040642e+01] [ 5.85555087e-01 8.10629592e-01 -2.21473618e-03 2.74688022e+01] [ 3.77027101e-03 8.65878660e-06 9.99992892e-01 2.89388445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:27.49, Z:0.29 [[ 8.10467826e-01 -5.85775210e-01 -3.05063330e-03 7.94271489e+01] [ 5.85771020e-01 8.10473568e-01 -2.21554823e-03 2.74856765e+01] [ 3.77027088e-03 8.65797774e-06 9.99992892e-01 2.89495836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:27.50, Z:0.29 [[ 8.11298948e-01 -5.84623567e-01 -3.05004285e-03 7.94493536e+01] [ 5.84619366e-01 8.11304681e-01 -2.21636077e-03 2.75032746e+01] [ 3.77025078e-03 1.50170439e-05 9.99992892e-01 2.90461198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:27.52, Z:0.29 [[ 8.12007455e-01 -5.83639096e-01 -3.04944211e-03 7.94715931e+01] [ 5.83634885e-01 8.12013180e-01 -2.21718701e-03 2.75203860e+01] [ 3.77022421e-03 2.06115850e-05 9.99992892e-01 2.91811365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:27.54, Z:0.29 [[ 8.13466106e-01 -5.81604332e-01 -3.04883515e-03 7.94935327e+01] [ 5.81600103e-01 8.13471819e-01 -2.21802132e-03 2.75383476e+01] [ 3.77015228e-03 3.10823321e-05 9.99992892e-01 2.93141054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:27.56, Z:0.29 [[ 8.14153626e-01 -5.80641526e-01 -3.04822969e-03 7.95147111e+01] [ 5.80637287e-01 8.14159332e-01 -2.21885310e-03 2.75556003e+01] [ 3.77010289e-03 3.65714814e-05 9.99992892e-01 2.93276096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:27.57, Z:0.29 [[ 8.14718482e-01 -5.79848693e-01 -3.04781816e-03 7.95364384e+01] [ 5.79844446e-01 8.14724182e-01 -2.21941823e-03 2.75734716e+01] [ 3.77005791e-03 4.09406142e-05 9.99992892e-01 2.92962402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:27.59, Z:0.29 [[ 8.15454810e-01 -5.78812722e-01 -3.04720900e-03 7.95572954e+01] [ 5.78808465e-01 8.15460502e-01 -2.22025428e-03 2.75912840e+01] [ 3.76999000e-03 4.67666717e-05 9.99992892e-01 2.92485989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:27.61, Z:0.29 [[ 8.15400236e-01 -5.78889602e-01 -3.04694488e-03 7.95790466e+01] [ 5.78885345e-01 8.15405928e-01 -2.22061668e-03 2.76083880e+01] [ 3.76998882e-03 4.68596258e-05 9.99992892e-01 2.92380587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:27.63, Z:0.29 [[ 8.15188790e-01 -5.79187324e-01 -3.04632811e-03 7.96014770e+01] [ 5.79183066e-01 8.15194481e-01 -2.22146246e-03 2.76260501e+01] [ 3.76999276e-03 4.65296401e-05 9.99992892e-01 2.92826754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:27.64, Z:0.29 [[ 8.14686210e-01 -5.79894044e-01 -3.04570782e-03 7.96232946e+01] [ 5.79889787e-01 8.14691902e-01 -2.22231258e-03 2.76435305e+01] [ 3.77001933e-03 4.43125573e-05 9.99992892e-01 2.94171481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:27.66, Z:0.29 [[ 8.13075501e-01 -5.82150288e-01 -3.04508744e-03 7.96432428e+01] [ 5.82146044e-01 8.13081202e-01 -2.22316232e-03 2.76606258e+01] [ 3.77011794e-03 3.49132116e-05 9.99992892e-01 2.94404279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:27.68, Z:0.30 [[ 8.13987863e-01 -5.80874001e-01 -3.02539637e-03 7.96687818e+01] [ 5.80869648e-01 8.13993482e-01 -2.25011733e-03 2.76785042e+01] [ 3.76968758e-03 7.42072741e-05 9.99992892e-01 2.95387856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:27.70, Z:0.29 [[ 8.13442838e-01 -5.81636896e-01 -3.04471504e-03 7.96905121e+01] [ 5.81632646e-01 8.13448536e-01 -2.22366558e-03 2.76972146e+01] [ 3.77008493e-03 3.79191708e-05 9.99992892e-01 2.94166533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.71, Y:27.71, Z:0.29 [[ 8.13073191e-01 -5.82153518e-01 -3.04410551e-03 7.97114346e+01] [ 5.82149269e-01 8.13078889e-01 -2.22449969e-03 2.77139721e+01] [ 3.77009824e-03 3.65572606e-05 9.99992892e-01 2.93468324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:27.73, Z:0.29 [[ 8.12450005e-01 -5.83022920e-01 -3.04384147e-03 7.97335917e+01] [ 5.83018676e-01 8.12455706e-01 -2.22486092e-03 2.77312056e+01] [ 3.77013128e-03 3.29718422e-05 9.99992892e-01 2.92927323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:27.75, Z:0.29 [[ 8.10377893e-01 -5.85899658e-01 -3.04323493e-03 7.97550633e+01] [ 5.85895431e-01 8.10383607e-01 -2.22569025e-03 2.77487903e+01] [ 3.77021886e-03 2.06327331e-05 9.99992892e-01 2.91927882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:27.77, Z:0.29 [[ 8.08929286e-01 -5.87898080e-01 -3.04262644e-03 7.97772027e+01] [ 5.87893864e-01 8.08935008e-01 -2.22652178e-03 2.77659415e+01] [ 3.77025492e-03 1.23572595e-05 9.99992892e-01 2.91646043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:27.78, Z:0.29 [[ 8.07593363e-01 -5.89731894e-01 -3.04202280e-03 7.97986985e+01] [ 5.89727688e-01 8.07599092e-01 -2.22734620e-03 2.77819207e+01] [ 3.77027195e-03 4.82493978e-06 9.99992892e-01 2.91424809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.82, Y:27.80, Z:0.29 [[ 8.06396908e-01 -5.91366870e-01 -3.04176101e-03 7.98210683e+01] [ 5.91362674e-01 8.06402644e-01 -2.22770367e-03 2.77988543e+01] [ 3.77027426e-03 -2.37057599e-06 9.99992892e-01 2.90876996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:27.82, Z:0.29 [[ 8.04857292e-01 -5.93460606e-01 -3.04113784e-03 7.98417470e+01] [ 5.93456422e-01 8.04863037e-01 -2.22855406e-03 2.78170557e+01] [ 3.77025848e-03 -1.11147944e-05 9.99992892e-01 2.88202864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:27.83, Z:0.29 [[ 8.04074962e-01 -5.94520150e-01 -3.04089305e-03 7.98635819e+01] [ 5.94515972e-01 8.04080712e-01 -2.22888802e-03 2.78348176e+01] [ 3.77024229e-03 -1.56664330e-05 9.99992892e-01 2.87530035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.89, Y:27.85, Z:0.29 [[ 8.03471227e-01 -5.95335824e-01 -3.04027843e-03 7.98856266e+01] [ 5.95331649e-01 8.03476979e-01 -2.22972607e-03 2.78525751e+01] [ 3.77022954e-03 -1.84532236e-05 9.99992892e-01 2.86608029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.800888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.91, Y:27.87, Z:0.29 [[ 8.02670633e-01 -5.96414801e-01 -3.03966789e-03 7.99072072e+01] [ 5.96410630e-01 8.02676388e-01 -2.23055808e-03 2.78701937e+01] [ 3.77020750e-03 -2.24867753e-05 9.99992892e-01 2.85834585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.830888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:79.93, Y:27.89, Z:0.29 [[ 8.01217547e-01 -5.98365446e-01 -3.03905792e-03 7.99271371e+01] [ 5.98361286e-01 8.01223310e-01 -2.23138883e-03 2.78883213e+01] [ 3.77015002e-03 -3.06267212e-05 9.99992892e-01 2.85208532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:79.95, Y:27.91, Z:0.29 [[ 8.00586547e-01 -5.99209434e-01 -3.03879385e-03 7.99491865e+01] [ 5.99205279e-01 8.00592314e-01 -2.23174839e-03 2.79055305e+01] [ 3.77011969e-03 -3.41535802e-05 9.99992892e-01 2.85606474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:79.97, Y:27.92, Z:0.29 [[ 7.99793174e-01 -6.00267981e-01 -3.03818356e-03 7.99702893e+01] [ 6.00263830e-01 7.99798943e-01 -2.23257890e-03 2.79230252e+01] [ 3.77008163e-03 -3.81103313e-05 9.99992892e-01 2.85947684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:79.99, Y:27.94, Z:0.29 [[ 7.99370758e-01 -6.00830394e-01 -3.03795671e-03 7.99914396e+01] [ 6.00826246e-01 7.99376529e-01 -2.23288754e-03 2.79431035e+01] [ 3.77005799e-03 -4.03791253e-05 9.99992892e-01 2.88059873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:80.01, Y:27.96, Z:0.29 [[ 7.99654425e-01 -6.00452808e-01 -3.03742724e-03 8.00119920e+01] [ 6.00448654e-01 7.99660193e-01 -2.23360756e-03 2.79607126e+01] [ 3.77008558e-03 -3.77049279e-05 9.99992892e-01 2.88374246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980888479 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:80.03, Y:27.98, Z:0.29 [[ 8.00177042e-01 -5.99756181e-01 -3.03716447e-03 8.00339842e+01] [ 5.99752021e-01 8.00182805e-01 -2.23396480e-03 2.79787945e+01] [ 3.77012098e-03 -3.39781891e-05 9.99992892e-01 2.88909490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010888479 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:80.05, Y:28.00, Z:0.29 [[ 8.02044377e-01 -5.97256725e-01 -3.03655832e-03 8.00549096e+01] [ 5.97252545e-01 8.02050125e-01 -2.23478841e-03 2.79984295e+01] [ 3.77021439e-03 -2.11927017e-05 9.99992892e-01 2.88975954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:80.08, Y:28.02, Z:0.29 [[ 8.03198457e-01 -5.95703804e-01 -3.03593218e-03 8.00755053e+01] [ 5.95699609e-01 8.03204195e-01 -2.23563870e-03 2.80164211e+01] [ 3.77025194e-03 -1.28420598e-05 9.99992892e-01 2.87991401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:80.10, Y:28.03, Z:0.29 [[ 8.04268369e-01 -5.94258509e-01 -3.03550658e-03 8.00963871e+01] [ 5.94254302e-01 8.04274097e-01 -2.23621642e-03 2.80345949e+01] [ 3.77026995e-03 -5.34470928e-06 9.99992892e-01 2.87669994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100888479 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:80.12, Y:28.05, Z:0.29 [[ 8.05466214e-01 -5.92633923e-01 -3.03488697e-03 8.01175761e+01] [ 5.92629701e-01 8.05471932e-01 -2.23705700e-03 2.80525646e+01] [ 3.77027214e-03 3.30967803e-06 9.99992892e-01 2.88058086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13088847899999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:80.14, Y:28.07, Z:0.29 [[ 8.08135949e-01 -5.88988185e-01 -3.03425474e-03 8.01386418e+01] [ 5.88983933e-01 8.08141645e-01 -2.23791421e-03 2.80717548e+01] [ 3.77021265e-03 2.14116316e-05 9.99992892e-01 2.88275207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.160888479 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:80.16, Y:28.09, Z:0.29 [[ 8.09326890e-01 -5.87350644e-01 -3.03405893e-03 8.01608415e+01] [ 5.87346380e-01 8.09332577e-01 -2.23817965e-03 2.80894642e+01] [ 3.77015899e-03 2.93754436e-05 9.99992892e-01 2.88394031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.190888479 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:80.18, Y:28.11, Z:0.29 [[ 8.10560798e-01 -5.85646644e-01 -3.03344623e-03 8.01817430e+01] [ 5.85642365e-01 8.10566473e-01 -2.23900975e-03 2.81063826e+01] [ 3.77007836e-03 3.83389061e-05 9.99992892e-01 2.88471556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.220888479 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:80.20, Y:28.13, Z:0.29 [[ 8.12368627e-01 -5.83136360e-01 -3.03318091e-03 8.02031267e+01] [ 5.83132062e-01 8.12374288e-01 -2.23936911e-03 2.81253193e+01] [ 3.76993574e-03 5.04481685e-05 9.99992892e-01 2.88656296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250888479 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:80.22, Y:28.14, Z:0.29 [[ 8.13170435e-01 -5.82017738e-01 -3.03257784e-03 8.02242874e+01] [ 5.82013430e-01 8.13176088e-01 -2.24018550e-03 2.81415587e+01] [ 3.76984748e-03 5.66515855e-05 9.99992892e-01 2.88794705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280888479 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:80.25, Y:28.16, Z:0.29 [[ 8.13356795e-01 -5.81757277e-01 -3.03216765e-03 8.02466996e+01] [ 5.81752965e-01 8.13362445e-01 -2.24074058e-03 2.81585051e+01] [ 3.76981843e-03 5.85490570e-05 9.99992892e-01 2.90182046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310888479 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:80.27, Y:28.18, Z:0.29 [[ 8.13398176e-01 -5.81699422e-01 -3.03154597e-03 8.02686533e+01] [ 5.81695106e-01 8.13403823e-01 -2.24158135e-03 2.81760269e+01] [ 3.76979765e-03 5.98627281e-05 9.99992892e-01 2.91778944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340888479 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:80.29, Y:28.19, Z:0.29 [[ 8.13119872e-01 -5.82088382e-01 -3.03135344e-03 8.02910247e+01] [ 5.82084068e-01 8.13125520e-01 -2.24184167e-03 2.81937670e+01] [ 3.76982084e-03 5.83834727e-05 9.99992892e-01 2.92082456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370888479 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:80.31, Y:28.21, Z:0.29 [[ 8.12801640e-01 -5.82532667e-01 -3.03072897e-03 8.03132806e+01] [ 5.82528353e-01 8.12807288e-01 -2.24268557e-03 2.82101871e+01] [ 3.76983621e-03 5.73729538e-05 9.99992892e-01 2.92105127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400888479 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:80.34, Y:28.22, Z:0.29 [[ 8.11397901e-01 -5.84486326e-01 -3.03009037e-03 8.03366993e+01] [ 5.84482022e-01 8.11403557e-01 -2.24354806e-03 2.82245165e+01] [ 3.76994926e-03 4.93768418e-05 9.99992892e-01 2.91710891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430888479 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:80.36, Y:28.24, Z:0.29 [[ 8.10276163e-01 -5.86040408e-01 -3.02986505e-03 8.03602083e+01] [ 5.86036114e-01 8.10281826e-01 -2.24385230e-03 2.82405386e+01] [ 3.77003271e-03 4.25296838e-05 9.99992892e-01 2.90941315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460888479 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:80.38, Y:28.26, Z:0.29 [[ 8.09279500e-01 -5.87415963e-01 -3.02924236e-03 8.03835261e+01] [ 5.87411676e-01 8.09285169e-01 -2.24469263e-03 2.82567818e+01] [ 3.77008920e-03 3.71714006e-05 9.99992892e-01 2.90191036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49088847899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:80.41, Y:28.27, Z:0.29 [[ 8.07832455e-01 -5.89404405e-01 -3.02861626e-03 8.04062922e+01] [ 5.89400128e-01 8.07838132e-01 -2.24553706e-03 2.82714208e+01] [ 3.77016114e-03 2.89509040e-05 9.99992892e-01 2.88706989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52088847899999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:80.43, Y:28.29, Z:0.29 [[ 8.07346499e-01 -5.90069878e-01 -3.02834574e-03 8.04295626e+01] [ 5.90065604e-01 8.07352178e-01 -2.24590184e-03 2.82866841e+01] [ 3.77018055e-03 2.62983250e-05 9.99992892e-01 2.89535540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.550888479 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:80.45, Y:28.30, Z:0.29 [[ 8.07093399e-01 -5.90416021e-01 -3.02771139e-03 8.04518169e+01] [ 5.90411747e-01 8.07099078e-01 -2.24675667e-03 2.83013685e+01] [ 3.77018421e-03 2.57461075e-05 9.99992892e-01 2.89691671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.580888479 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:80.47, Y:28.32, Z:0.29 [[ 8.06859981e-01 -5.90734971e-01 -3.02743652e-03 8.04748579e+01] [ 5.90730698e-01 8.06865660e-01 -2.24712699e-03 2.83170022e+01] [ 3.77019107e-03 2.47171519e-05 9.99992892e-01 2.90303143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:80.50, Y:28.33, Z:0.29 [[ 8.07192555e-01 -5.90280457e-01 -3.02680570e-03 8.04986965e+01] [ 5.90276177e-01 8.07198230e-01 -2.24797637e-03 2.83317598e+01] [ 3.77016872e-03 2.78984885e-05 9.99992892e-01 2.88652513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:80.52, Y:28.35, Z:0.29 [[ 8.07735790e-01 -5.89536881e-01 -3.02651192e-03 8.05221869e+01] [ 5.89532594e-01 8.07741459e-01 -2.24837182e-03 2.83470897e+01] [ 3.77013727e-03 3.18629622e-05 9.99992892e-01 2.88056565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:80.55, Y:28.36, Z:0.29 [[ 8.08080361e-01 -5.89064491e-01 -3.02589275e-03 8.05461921e+01] [ 5.89060198e-01 8.08086025e-01 -2.24920481e-03 2.83624965e+01] [ 3.77010833e-03 3.51052513e-05 9.99992893e-01 2.88177524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:80.57, Y:28.38, Z:0.29 [[ 8.08654271e-01 -5.88276396e-01 -3.02527134e-03 8.05692949e+01] [ 5.88272095e-01 8.08659929e-01 -2.25004032e-03 2.83769078e+01] [ 3.77006131e-03 3.98220036e-05 9.99992893e-01 2.88709242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:80.59, Y:28.39, Z:0.29 [[ 8.09635120e-01 -5.86925738e-01 -3.02484909e-03 8.05937090e+01] [ 5.86921425e-01 8.09640770e-01 -2.25060783e-03 2.83907206e+01] [ 3.76998080e-03 4.68224047e-05 9.99992893e-01 2.90365834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:80.62, Y:28.41, Z:0.29 [[ 8.09826373e-01 -5.86661828e-01 -3.02422959e-03 8.06159763e+01] [ 5.86657510e-01 8.09832018e-01 -2.25143996e-03 2.84062920e+01] [ 3.76995184e-03 4.90884520e-05 9.99992893e-01 2.88889872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.64, Y:28.42, Z:0.28 [[ 8.08579039e-01 -5.88379804e-01 -3.02396129e-03 8.06378484e+01] [ 5.88375497e-01 8.08584692e-01 -2.25180027e-03 2.84213041e+01] [ 3.77004261e-03 4.15337711e-05 9.99992893e-01 2.82511261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:80.66, Y:28.44, Z:0.29 [[ 8.09834644e-01 -5.86650481e-01 -3.01037810e-03 8.06645033e+01] [ 5.86646094e-01 8.09840236e-01 -2.27003023e-03 2.84357870e+01] [ 3.76963964e-03 7.23225693e-05 9.99992892e-01 2.87701083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.69, Y:28.45, Z:0.29 [[ 8.09493862e-01 -5.87120555e-01 -3.02328367e-03 8.06883823e+01] [ 5.87116236e-01 8.09499507e-01 -2.25271012e-03 2.84507336e+01] [ 3.76995905e-03 4.85360862e-05 9.99992893e-01 2.88196319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88088847899999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.71, Y:28.47, Z:0.29 [[ 8.08414326e-01 -5.88606100e-01 -3.02266471e-03 8.07133634e+01] [ 5.88601788e-01 8.08419975e-01 -2.25354032e-03 2.84668966e+01] [ 3.77003011e-03 4.26484293e-05 9.99992893e-01 2.85171203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.910888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.74, Y:28.48, Z:0.29 [[ 8.07358282e-01 -5.90053753e-01 -3.02887330e-03 8.07367170e+01] [ 5.90049482e-01 8.07363963e-01 -2.24521497e-03 2.84803811e+01] [ 3.77020067e-03 2.55077762e-05 9.99992892e-01 2.87550190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:28.49, Z:0.29 [[ 8.06145684e-01 -5.91709393e-01 -3.02185374e-03 8.07605743e+01] [ 5.91705098e-01 8.06151347e-01 -2.25462323e-03 2.84949692e+01] [ 3.77015321e-03 2.95085176e-05 9.99992893e-01 2.88775729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:28.51, Z:0.29 [[ 8.05939815e-01 -5.91989769e-01 -3.02125469e-03 8.07908067e+01] [ 5.91985473e-01 8.05945477e-01 -2.25542569e-03 2.85094665e+01] [ 3.77015549e-03 2.91984708e-05 9.99992893e-01 2.92497933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:28.52, Z:0.29 [[ 8.02491328e-01 -5.96655988e-01 -3.04966501e-03 8.08093236e+01] [ 5.96651869e-01 8.02497122e-01 -2.21735169e-03 2.85221743e+01] [ 3.77034355e-03 -4.01828259e-05 9.99992891e-01 2.94540647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.83, Y:28.54, Z:0.30 [[ 8.01257091e-01 -5.98312587e-01 -3.02038910e-03 8.08318015e+01] [ 5.98308332e-01 8.01262784e-01 -2.25653767e-03 2.85375232e+01] [ 3.77024027e-03 9.42840070e-07 9.99992893e-01 2.95120077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.85, Y:28.55, Z:0.30 [[ 8.01096162e-01 -5.98528043e-01 -3.01997108e-03 8.08546537e+01] [ 5.98523787e-01 8.01101855e-01 -2.25709697e-03 2.85547080e+01] [ 3.77024027e-03 6.27196299e-07 9.99992893e-01 2.95227594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:80.88, Y:28.57, Z:0.29 [[ 8.00054088e-01 -5.99920278e-01 -3.01936387e-03 8.08775623e+01] [ 5.99916029e-01 8.00059785e-01 -2.25790895e-03 2.85700055e+01] [ 3.77023698e-03 -4.91549743e-06 9.99992893e-01 2.94768511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.90, Y:28.58, Z:0.30 [[ 7.98053851e-01 -6.02578573e-01 -3.01910064e-03 8.09019596e+01] [ 6.02574341e-01 7.98059561e-01 -2.25826087e-03 2.85841379e+01] [ 3.77020175e-03 -1.70187987e-05 9.99992893e-01 2.95808299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:28.60, Z:0.30 [[ 7.97060818e-01 -6.03891498e-01 -3.01848884e-03 8.09256519e+01] [ 6.03887273e-01 7.97066533e-01 -2.25907833e-03 2.86000069e+01] [ 3.77017464e-03 -2.22041717e-05 9.99992893e-01 2.95204525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:28.62, Z:0.29 [[ 7.96095357e-01 -6.05163677e-01 -3.01787364e-03 8.09492653e+01] [ 6.05159458e-01 7.96101076e-01 -2.25989988e-03 2.86160809e+01] [ 3.77014177e-03 -2.71989706e-05 9.99992893e-01 2.94599261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:80.97, Y:28.63, Z:0.29 [[ 7.95314202e-01 -6.06189918e-01 -3.01726074e-03 8.09737210e+01] [ 6.06185703e-01 7.95319924e-01 -2.26071788e-03 2.86302239e+01] [ 3.77011197e-03 -3.10392906e-05 9.99992893e-01 2.94813965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.00, Y:28.65, Z:0.29 [[ 7.95300090e-01 -6.06208436e-01 -3.01664604e-03 8.09972590e+01] [ 6.06204218e-01 7.95305810e-01 -2.26153783e-03 2.86459566e+01] [ 3.77011943e-03 -3.01023110e-05 9.99992893e-01 2.94813596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:28.66, Z:0.29 [[ 7.95781924e-01 -6.05575786e-01 -3.01603449e-03 8.10192369e+01] [ 6.05571560e-01 7.95787639e-01 -2.26235310e-03 2.86610664e+01] [ 3.77014923e-03 -2.60850098e-05 9.99992893e-01 2.92782244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:28.68, Z:0.29 [[ 7.98065214e-01 -6.02563539e-01 -3.01576961e-03 8.10416767e+01] [ 6.02559291e-01 7.98070912e-01 -2.26270615e-03 2.86770120e+01] [ 3.77022223e-03 -1.13929270e-05 9.99992893e-01 2.91317301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:28.69, Z:0.29 [[ 7.99477802e-01 -6.00688065e-01 -3.01539434e-03 8.10643870e+01] [ 6.00683801e-01 7.99483489e-01 -2.26320614e-03 2.86938795e+01] [ 3.77023890e-03 -1.91546078e-06 9.99992893e-01 2.93678357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:81.09, Y:28.71, Z:0.29 [[ 8.01231308e-01 -5.98347141e-01 -3.01476255e-03 8.10861264e+01] [ 5.98342858e-01 8.01236980e-01 -2.26404742e-03 2.87098220e+01] [ 3.77022554e-03 1.01640370e-05 9.99992893e-01 2.89999646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:28.73, Z:0.29 [[ 8.02732283e-01 -5.96331950e-01 -3.01448885e-03 8.11091397e+01] [ 5.96327652e-01 8.02737943e-01 -2.26441178e-03 2.87267509e+01] [ 3.77018567e-03 2.00933779e-05 9.99992893e-01 2.91420440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:81.13, Y:28.74, Z:0.29 [[ 8.05130027e-01 -5.93090681e-01 -3.01392038e-03 8.11322335e+01] [ 5.93086356e-01 8.05135668e-01 -2.26516816e-03 2.87424026e+01] [ 3.77006492e-03 3.62398491e-05 9.99992893e-01 2.94264858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.15, Y:28.76, Z:0.29 [[ 8.05858260e-01 -5.92100823e-01 -3.01329291e-03 8.11541695e+01] [ 5.92096488e-01 8.05863893e-01 -2.26600256e-03 2.87581113e+01] [ 3.77000593e-03 4.19167338e-05 9.99992893e-01 2.94351031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:28.77, Z:0.30 [[ 8.06476317e-01 -5.91258718e-01 -3.01302566e-03 8.11773226e+01] [ 5.91254376e-01 8.06481944e-01 -2.26635785e-03 2.87746849e+01] [ 3.76995463e-03 4.62993223e-05 9.99992893e-01 2.95214728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.20, Y:28.79, Z:0.30 [[ 8.06483168e-01 -5.91249375e-01 -3.01263914e-03 8.11998689e+01] [ 5.91245031e-01 8.06488794e-01 -2.26687153e-03 2.87912744e+01] [ 3.76994608e-03 4.69858104e-05 9.99992893e-01 2.95650734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:28.81, Z:0.30 [[ 8.06849095e-01 -5.90749918e-01 -3.01200448e-03 8.12217332e+01] [ 5.90745567e-01 8.06854716e-01 -2.26771449e-03 2.88071624e+01] [ 3.76990217e-03 5.03750883e-05 9.99992893e-01 2.95341858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:81.24, Y:28.82, Z:0.29 [[ 8.06869149e-01 -5.90722529e-01 -3.01157638e-03 8.12438721e+01] [ 5.90718177e-01 8.06874768e-01 -2.26828288e-03 2.88240227e+01] [ 3.76989079e-03 5.12145683e-05 9.99992893e-01 2.94510498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:81.27, Y:28.84, Z:0.29 [[ 8.06860644e-01 -5.90734150e-01 -3.01095433e-03 8.12675728e+01] [ 5.90729794e-01 8.06866260e-01 -2.26910830e-03 2.88412400e+01] [ 3.76987722e-03 5.21937529e-05 9.99992893e-01 2.93641609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.29, Y:28.86, Z:0.29 [[ 8.06452415e-01 -5.91291333e-01 -3.01041241e-03 8.12908710e+01] [ 5.91286978e-01 8.06458032e-01 -2.26982703e-03 2.88572514e+01] [ 3.76990032e-03 5.04898300e-05 9.99992893e-01 2.94704529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.660888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.31, Y:28.87, Z:0.29 [[ 8.06119240e-01 -5.91745479e-01 -3.00977421e-03 8.13123216e+01] [ 5.91741124e-01 8.06124858e-01 -2.27067296e-03 2.88736685e+01] [ 3.76991427e-03 4.94259887e-05 9.99992893e-01 2.94328968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:28.89, Z:0.30 [[ 8.05297715e-01 -5.92862997e-01 -3.00951556e-03 8.13343108e+01] [ 5.92858649e-01 8.05303337e-01 -2.27101572e-03 2.88911213e+01] [ 3.76997411e-03 4.46264395e-05 9.99992893e-01 2.95041465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:28.91, Z:0.30 [[ 8.03610665e-01 -5.95147751e-01 -3.00889015e-03 8.13573648e+01] [ 5.95143416e-01 8.03616297e-01 -2.27184403e-03 2.89085710e+01] [ 3.77007603e-03 3.49569249e-05 9.99992893e-01 2.96876361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:28.92, Z:0.30 [[ 8.02863087e-01 -5.96155864e-01 -3.00833860e-03 8.13791416e+01] [ 5.96151533e-01 8.02868722e-01 -2.27257415e-03 2.89246457e+01] [ 3.77010937e-03 3.11402345e-05 9.99992893e-01 2.97371294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.40, Y:28.94, Z:0.30 [[ 8.01888498e-01 -5.97466140e-01 -3.00806589e-03 8.14016574e+01] [ 5.97461817e-01 8.01894139e-01 -2.27293506e-03 2.89418846e+01] [ 3.77015215e-03 2.54359690e-05 9.99992893e-01 2.98010630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:28.96, Z:0.30 [[ 8.00492582e-01 -5.99335116e-01 -3.00745106e-03 8.14241915e+01] [ 5.99330803e-01 8.00498231e-01 -2.27374829e-03 2.89583776e+01] [ 3.77019645e-03 1.76605846e-05 9.99992893e-01 2.99010239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.45, Y:28.97, Z:0.30 [[ 7.99490814e-01 -6.00670789e-01 -3.00683266e-03 8.14462223e+01] [ 6.00666483e-01 7.99496468e-01 -2.27456577e-03 2.89742975e+01] [ 3.77021731e-03 1.23908405e-05 9.99992893e-01 2.98215204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.47, Y:28.99, Z:0.30 [[ 7.98099637e-01 -6.02517991e-01 -3.00657544e-03 8.14696182e+01] [ 6.02513696e-01 7.98105300e-01 -2.27490573e-03 2.89915699e+01] [ 3.77023542e-03 4.09855374e-06 9.99992893e-01 2.98701291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:81.49, Y:29.01, Z:0.30 [[ 7.94936014e-01 -6.06685830e-01 -3.00603740e-03 8.14929419e+01] [ 6.06681563e-01 7.94941698e-01 -2.27561647e-03 2.90084816e+01] [ 3.77020874e-03 -1.47379801e-05 9.99992893e-01 2.97757400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.52, Y:29.02, Z:0.30 [[ 7.93482144e-01 -6.08586111e-01 -3.00549838e-03 8.15150978e+01] [ 6.08581854e-01 7.93487835e-01 -2.27632815e-03 2.90246499e+01] [ 3.77016810e-03 -2.28660329e-05 9.99992893e-01 2.96979097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:29.04, Z:0.30 [[ 7.91804436e-01 -6.10767308e-01 -3.00525882e-03 8.15378740e+01] [ 6.10763066e-01 7.91810138e-01 -2.27664437e-03 2.90417680e+01] [ 3.77009436e-03 -3.28439768e-05 9.99992893e-01 2.98397774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:29.06, Z:0.30 [[ 7.88793177e-01 -6.14651362e-01 -3.00463854e-03 8.15595631e+01] [ 6.14647145e-01 7.88798898e-01 -2.27746271e-03 2.90589859e+01] [ 3.76990112e-03 -5.03454537e-05 9.99992893e-01 2.98871243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:29.08, Z:0.30 [[ 7.87564824e-01 -6.16224492e-01 -3.00401098e-03 8.15821622e+01] [ 6.16220283e-01 7.87570551e-01 -2.27829016e-03 2.90764314e+01] [ 3.76980878e-03 -5.68313088e-05 9.99992893e-01 2.98779167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:29.09, Z:0.30 [[ 7.86708071e-01 -6.17317900e-01 -3.00338767e-03 8.16048071e+01] [ 6.17313696e-01 7.86713802e-01 -2.27911156e-03 2.90935851e+01] [ 3.76974289e-03 -6.10368868e-05 9.99992893e-01 2.99773985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:29.11, Z:0.30 [[ 7.86104563e-01 -6.18086239e-01 -3.00276524e-03 8.16279874e+01] [ 6.18082037e-01 7.86110296e-01 -2.27993132e-03 2.91112274e+01] [ 3.76969885e-03 -6.36908476e-05 9.99992893e-01 3.01140685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.65, Y:29.13, Z:0.31 [[ 7.86240859e-01 -6.17912857e-01 -3.00222298e-03 8.16494614e+01] [ 6.17908651e-01 7.86246588e-01 -2.28064515e-03 2.91284566e+01] [ 3.76972754e-03 -6.19631538e-05 9.99992893e-01 3.05118493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:29.15, Z:0.31 [[ 7.86631196e-01 -6.17415864e-01 -3.00203012e-03 8.16712174e+01] [ 6.17411653e-01 7.86636922e-01 -2.28089898e-03 2.91466460e+01] [ 3.76977095e-03 -5.92620844e-05 9.99992893e-01 3.06452248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:29.17, Z:0.30 [[ 7.85404253e-01 -6.18975887e-01 -3.00174547e-03 8.16961788e+01] [ 6.18971687e-01 7.85409986e-01 -2.28127353e-03 2.91670553e+01] [ 3.76965418e-03 -6.62735260e-05 9.99992893e-01 2.98420077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:29.18, Z:0.31 [[ 7.90352120e-01 -6.12645400e-01 -3.02335928e-03 8.17143566e+01] [ 6.12641262e-01 7.90357899e-01 -2.25282651e-03 2.91836991e+01] [ 3.76971969e-03 -7.17084394e-05 9.99992892e-01 3.07675542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.74, Y:29.20, Z:0.31 [[ 7.92221594e-01 -6.10226139e-01 -3.00073939e-03 8.17357854e+01] [ 6.10221871e-01 7.92227277e-01 -2.28256343e-03 2.92014556e+01] [ 3.77014747e-03 -2.28207675e-05 9.99992893e-01 3.08126139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:29.22, Z:0.31 [[ 7.94296309e-01 -6.07523146e-01 -3.00012217e-03 8.17573184e+01] [ 6.07518855e-01 7.94301974e-01 -2.28337440e-03 2.92192504e+01] [ 3.77020576e-03 -8.95493069e-06 9.99992893e-01 3.08963757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:29.24, Z:0.31 [[ 7.98784767e-01 -6.01609424e-01 -2.99949888e-03 8.17772786e+01] [ 6.01605088e-01 7.98790398e-01 -2.28419288e-03 2.92392755e+01] [ 3.77016286e-03 2.00646870e-05 9.99992893e-01 3.07785284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.80, Y:29.26, Z:0.31 [[ 8.00954767e-01 -5.98717353e-01 -2.99887246e-03 8.17984583e+01] [ 5.98712993e-01 8.00960380e-01 -2.28501499e-03 2.92577589e+01] [ 3.77005615e-03 3.47297347e-05 9.99992893e-01 3.07146915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.82, Y:29.28, Z:0.31 [[ 8.02766484e-01 -5.96285990e-01 -2.99824516e-03 8.18193158e+01] [ 5.96281611e-01 8.02772082e-01 -2.28583780e-03 2.92757072e+01] [ 3.76992056e-03 4.71955276e-05 9.99992893e-01 3.07284522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38088847899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:81.84, Y:29.29, Z:0.31 [[ 8.05439330e-01 -5.92670648e-01 -2.99805110e-03 8.18419110e+01] [ 5.92666242e-01 8.05444907e-01 -2.28609229e-03 2.92940814e+01] [ 3.76966479e-03 6.44649628e-05 9.99992893e-01 3.13104549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.410888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.86, Y:29.31, Z:0.31 [[ 8.06334902e-01 -5.91451638e-01 -2.99747695e-03 8.18639755e+01] [ 5.91447221e-01 8.06340471e-01 -2.28684487e-03 2.93110959e+01] [ 3.76954511e-03 7.11134207e-05 9.99992893e-01 3.14680576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:29.33, Z:0.32 [[ 8.07028229e-01 -5.90505253e-01 -2.99727357e-03 8.18860690e+01] [ 5.90500828e-01 8.07033792e-01 -2.28711139e-03 2.93288385e+01] [ 3.76945234e-03 7.58709244e-05 9.99992893e-01 3.15944298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.470888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.91, Y:29.35, Z:0.32 [[ 8.08373165e-01 -5.88662761e-01 -2.99663788e-03 8.19066188e+01] [ 5.88658321e-01 8.08378714e-01 -2.28794398e-03 2.93465032e+01] [ 3.76924570e-03 8.55166902e-05 9.99992893e-01 3.15814140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:29.36, Z:0.32 [[ 8.08930102e-01 -5.87897196e-01 -2.99636164e-03 8.19286240e+01] [ 5.87892749e-01 8.08935646e-01 -2.28830571e-03 2.93639521e+01] [ 3.76915224e-03 8.95400879e-05 9.99992893e-01 3.15850541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.95, Y:29.38, Z:0.32 [[ 8.08941957e-01 -5.87880885e-01 -2.99572592e-03 8.19502436e+01] [ 5.87876435e-01 8.08947499e-01 -2.28913764e-03 2.93811778e+01] [ 3.76912526e-03 9.06628084e-05 9.99992893e-01 3.15541722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:81.97, Y:29.40, Z:0.31 [[ 8.08460509e-01 -5.88542807e-01 -2.99508300e-03 8.19726808e+01] [ 5.88538358e-01 8.08466052e-01 -2.28997853e-03 2.93986972e+01] [ 3.76917332e-03 8.86359733e-05 9.99992893e-01 3.14750001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.99, Y:29.42, Z:0.31 [[ 8.05800734e-01 -5.92179205e-01 -2.99444258e-03 8.19949396e+01] [ 5.92174779e-01 8.05806294e-01 -2.29081566e-03 2.94156697e+01] [ 3.76951407e-03 7.27075692e-05 9.99992893e-01 3.11826451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:29.43, Z:0.31 [[ 8.04100908e-01 -5.94485295e-01 -2.99380770e-03 8.20164241e+01] [ 5.94480882e-01 8.04106479e-01 -2.29164507e-03 2.94313001e+01] [ 3.76968946e-03 6.29524402e-05 9.99992893e-01 3.11916556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.04, Y:29.45, Z:0.31 [[ 8.00598424e-01 -5.99193793e-01 -2.99353245e-03 8.20391815e+01] [ 5.99189411e-01 8.00604020e-01 -2.29200456e-03 2.94484537e+01] [ 3.76998902e-03 4.12822881e-05 9.99992893e-01 3.14306503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:82.06, Y:29.47, Z:0.31 [[ 7.98887783e-01 -6.01472654e-01 -2.99293025e-03 8.20598297e+01] [ 6.01468285e-01 7.98893388e-01 -2.29279065e-03 2.94653531e+01] [ 3.77008307e-03 3.15298144e-05 9.99992893e-01 3.14399338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:29.48, Z:0.31 [[ 7.97498828e-01 -6.03313072e-01 -2.99264972e-03 8.20805598e+01] [ 6.03308715e-01 7.97504443e-01 -2.29315675e-03 2.94821180e+01] [ 3.77014289e-03 2.32981651e-05 9.99992893e-01 3.14464204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:29.50, Z:0.31 [[ 7.96201333e-01 -6.05024366e-01 -2.99237468e-03 8.21026074e+01] [ 6.05020019e-01 7.96206956e-01 -2.29351560e-03 2.94996164e+01] [ 3.77018236e-03 1.56535858e-05 9.99992893e-01 3.13833820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:29.52, Z:0.31 [[ 7.93357770e-01 -6.08748304e-01 -2.99174639e-03 8.21252355e+01] [ 6.08743981e-01 7.93363411e-01 -2.29433488e-03 2.95169103e+01] [ 3.77021458e-03 -9.79203398e-07 9.99992893e-01 3.11660653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:29.53, Z:0.31 [[ 7.91594449e-01 -6.11039509e-01 -2.99111038e-03 8.21464783e+01] [ 6.11035199e-01 7.91600100e-01 -2.29516374e-03 2.95337547e+01] [ 3.77019900e-03 -1.08348516e-05 9.99992893e-01 3.10153658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:29.55, Z:0.31 [[ 7.89635261e-01 -6.13569237e-01 -2.99083532e-03 8.21680447e+01] [ 6.13564944e-01 7.89640925e-01 -2.29552211e-03 2.95511452e+01] [ 3.77014772e-03 -2.24465073e-05 9.99992893e-01 3.09067618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:29.57, Z:0.31 [[ 7.87997228e-01 -6.15671525e-01 -2.99020430e-03 8.21887277e+01] [ 6.15667244e-01 7.88002901e-01 -2.29634380e-03 2.95680983e+01] [ 3.77008315e-03 -3.14582964e-05 9.99992893e-01 3.07897637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:29.59, Z:0.31 [[ 7.85428065e-01 -6.18945729e-01 -2.98977489e-03 8.22094375e+01] [ 6.18941469e-01 7.85433754e-01 -2.29690274e-03 2.95855783e+01] [ 3.76992826e-03 -4.64437888e-05 9.99992893e-01 3.08627212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.23, Y:29.60, Z:0.31 [[ 7.84576018e-01 -6.20025432e-01 -2.98935236e-03 8.22311546e+01] [ 6.20021178e-01 7.84581711e-01 -2.29745252e-03 2.96028708e+01] [ 3.76987018e-03 -5.09356212e-05 9.99992893e-01 3.09922226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.25, Y:29.62, Z:0.31 [[ 7.84411934e-01 -6.20233009e-01 -2.98874397e-03 8.22537660e+01] [ 6.20228753e-01 7.84417626e-01 -2.29824370e-03 2.96203695e+01] [ 3.76987006e-03 -5.09351572e-05 9.99992893e-01 3.10029614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:29.64, Z:0.31 [[ 7.83472180e-01 -6.21419677e-01 -2.98813565e-03 8.22753401e+01] [ 6.21415426e-01 7.83477876e-01 -2.29903436e-03 2.96376267e+01] [ 3.76980336e-03 -5.56441316e-05 9.99992893e-01 3.11578981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:29.65, Z:0.31 [[ 7.83778401e-01 -6.21033407e-01 -2.98751200e-03 8.22966856e+01] [ 6.21029151e-01 7.83784093e-01 -2.29984448e-03 2.96546127e+01] [ 3.76984464e-03 -5.27636131e-05 9.99992893e-01 3.12047740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.32, Y:29.67, Z:0.31 [[ 7.84461722e-01 -6.20170044e-01 -2.98724145e-03 8.23182585e+01] [ 6.20165780e-01 7.84467408e-01 -2.30019584e-03 2.96725845e+01] [ 3.76990611e-03 -4.81693331e-05 9.99992893e-01 3.11663300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:82.34, Y:29.69, Z:0.31 [[ 7.85867719e-01 -6.18387425e-01 -2.98660497e-03 8.23382235e+01] [ 6.18383146e-01 7.85873394e-01 -2.30102196e-03 2.96903601e+01] [ 3.77001643e-03 -3.85672931e-05 9.99992893e-01 3.11744273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.36, Y:29.71, Z:0.31 [[ 7.89650945e-01 -6.13549074e-01 -2.98632896e-03 8.23580592e+01] [ 6.13544758e-01 7.89656592e-01 -2.30138012e-03 2.97108619e+01] [ 3.77018399e-03 -1.49594948e-05 9.99992893e-01 3.11714690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13088847899999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:82.38, Y:29.73, Z:0.31 [[ 7.91231007e-01 -6.11510081e-01 -2.98571223e-03 8.23793060e+01] [ 6.11505747e-01 7.91236640e-01 -2.30217996e-03 2.97293534e+01] [ 3.77021117e-03 -4.22401273e-06 9.99992893e-01 3.11605683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.40, Y:29.75, Z:0.31 [[ 7.92936932e-01 -6.09296407e-01 -2.98509014e-03 8.23997751e+01] [ 6.09292054e-01 7.92942551e-01 -2.30298630e-03 2.97471456e+01] [ 3.77020627e-03 7.33118534e-06 9.99992893e-01 3.11642698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.190888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.42, Y:29.77, Z:0.31 [[ 7.94239649e-01 -6.07597294e-01 -2.98482028e-03 8.24209711e+01] [ 6.07592928e-01 7.94245257e-01 -2.30333600e-03 2.97651415e+01] [ 3.77018007e-03 1.58450797e-05 9.99992893e-01 3.11689418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.220888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:82.44, Y:29.78, Z:0.31 [[ 7.96417886e-01 -6.04739320e-01 -2.98418576e-03 8.24417374e+01] [ 6.04734931e-01 7.96423476e-01 -2.30415779e-03 2.97832489e+01] [ 3.77009041e-03 3.04311105e-05 9.99992893e-01 3.13951591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:82.46, Y:29.80, Z:0.31 [[ 7.97082855e-01 -6.03862583e-01 -2.98391948e-03 8.24626302e+01] [ 6.03858186e-01 7.97088439e-01 -2.30450258e-03 2.98008292e+01] [ 3.77005060e-03 3.50152889e-05 9.99992893e-01 3.14925505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.48, Y:29.82, Z:0.32 [[ 7.97628166e-01 -6.03142111e-01 -2.98365529e-03 8.24838286e+01] [ 6.03137709e-01 7.97633746e-01 -2.30484457e-03 2.98194084e+01] [ 3.77001297e-03 3.88539330e-05 9.99992893e-01 3.15134362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.50, Y:29.84, Z:0.32 [[ 7.98147960e-01 -6.02454095e-01 -2.98305379e-03 8.25037022e+01] [ 6.02449684e-01 7.98153533e-01 -2.30562280e-03 2.98394431e+01] [ 3.76996682e-03 4.30883204e-05 9.99992893e-01 3.15423206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:82.53, Y:29.86, Z:0.32 [[ 7.97780729e-01 -6.02940305e-01 -2.98286810e-03 8.25258410e+01] [ 6.02935897e-01 7.97786304e-01 -2.30586301e-03 2.98584846e+01] [ 3.76998907e-03 4.10948192e-05 9.99992893e-01 3.15720012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:82.55, Y:29.88, Z:0.32 [[ 7.97326952e-01 -6.03540254e-01 -2.98234728e-03 8.25476131e+01] [ 6.03535847e-01 7.97332528e-01 -2.30653643e-03 2.98767836e+01] [ 3.77001008e-03 3.91101723e-05 9.99992893e-01 3.15763142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.57, Y:29.90, Z:0.31 [[ 7.95738791e-01 -6.05632633e-01 -2.98175474e-03 8.25679796e+01] [ 6.05628239e-01 7.95744377e-01 -2.30730218e-03 2.98965325e+01] [ 3.77009206e-03 3.01749760e-05 9.99992893e-01 3.12204232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430888479 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:82.59, Y:29.92, Z:0.31 [[ 7.94443496e-01 -6.07330753e-01 -2.98111274e-03 8.25885585e+01] [ 6.07326368e-01 7.94449089e-01 -2.30813136e-03 2.99150565e+01] [ 3.77014146e-03 2.31715732e-05 9.99992893e-01 3.10677033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:82.61, Y:29.93, Z:0.31 [[ 7.93467512e-01 -6.08605311e-01 -2.98047207e-03 8.26089770e+01] [ 6.08600931e-01 7.93473110e-01 -2.30895837e-03 2.99332922e+01] [ 3.77016876e-03 1.81653781e-05 9.99992893e-01 3.11043128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49088847899999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:82.63, Y:29.95, Z:0.31 [[ 7.92468543e-01 -6.09905506e-01 -2.98019441e-03 8.26302717e+01] [ 6.09901134e-01 7.92474147e-01 -2.30931669e-03 2.99517248e+01] [ 3.77019198e-03 1.24368841e-05 9.99992893e-01 3.09170748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52088847899999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:82.65, Y:29.97, Z:0.31 [[ 7.91163329e-01 -6.11597669e-01 -2.97960261e-03 8.26513616e+01] [ 6.11593306e-01 7.91168940e-01 -2.31008001e-03 2.99710154e+01] [ 3.77020858e-03 5.34558345e-06 9.99992893e-01 3.06572082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.550888479 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:82.67, Y:29.99, Z:0.31 [[ 7.90638353e-01 -6.12276181e-01 -2.97896993e-03 8.26730515e+01] [ 6.12271820e-01 7.90643965e-01 -2.31089560e-03 2.99891888e+01] [ 3.77021092e-03 3.14335104e-06 9.99992893e-01 3.06988719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.580888479 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:82.69, Y:30.01, Z:0.30 [[ 7.90002070e-01 -6.13096939e-01 -2.97877410e-03 8.26944831e+01] [ 6.13092583e-01 7.90007686e-01 -2.31114800e-03 3.00074516e+01] [ 3.77021219e-03 -4.52603987e-07 9.99992893e-01 3.04760383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610888479 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:82.71, Y:30.03, Z:0.30 [[ 7.89292945e-01 -6.14009590e-01 -2.97814390e-03 8.27145863e+01] [ 6.14005238e-01 7.89298564e-01 -2.31195978e-03 3.00280209e+01] [ 3.77021018e-03 -3.78240605e-06 9.99992893e-01 3.02314645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640888479 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:82.74, Y:30.05, Z:0.30 [[ 7.89277169e-01 -6.14029873e-01 -2.97758397e-03 8.27350145e+01] [ 6.14025517e-01 7.89282785e-01 -2.31268069e-03 3.00457926e+01] [ 3.77021080e-03 -2.96646703e-06 9.99992893e-01 3.01432522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670888479 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:82.77, Y:30.06, Z:0.30 [[ 7.92338862e-01 -6.10073982e-01 -2.97714894e-03 8.27711872e+01] [ 6.10069597e-01 7.92344455e-01 -2.31324058e-03 3.00631278e+01] [ 3.77017535e-03 1.66023601e-05 9.99992893e-01 3.01643371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700888479 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:82.78, Y:30.08, Z:0.30 [[ 7.88526578e-01 -6.14993153e-01 -3.04247430e-03 8.27782667e+01] [ 6.14989124e-01 7.88532440e-01 -2.22902499e-03 3.00822514e+01] [ 3.76992479e-03 -1.13443159e-04 9.99992887e-01 3.01320886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730888479 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:82.80, Y:30.10, Z:0.30 [[ 7.88419797e-01 -6.15130365e-01 -2.97607084e-03 8.27996203e+01] [ 6.15126011e-01 7.88425414e-01 -2.31441232e-03 3.01004528e+01] [ 3.77007518e-03 -5.93009111e-06 9.99992893e-01 3.02193971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760888479 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:82.82, Y:30.12, Z:0.30 [[ 7.88564820e-01 -6.14944445e-01 -2.97543211e-03 8.28195563e+01] [ 6.14940087e-01 7.88570434e-01 -2.31523318e-03 3.01183099e+01] [ 3.77007758e-03 -4.00104724e-06 9.99992893e-01 3.03324295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790888479 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:82.84, Y:30.14, Z:0.30 [[ 7.88818918e-01 -6.14618469e-01 -2.97515538e-03 8.28394056e+01] [ 6.14614107e-01 7.88824529e-01 -2.31558874e-03 3.01391888e+01] [ 3.77007915e-03 -1.99225914e-06 9.99992893e-01 3.03850818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820888479 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:82.86, Y:30.16, Z:0.30 [[ 7.88771679e-01 -6.14679096e-01 -2.97453462e-03 8.28599483e+01] [ 6.14674731e-01 7.88777288e-01 -2.31638587e-03 3.01583388e+01] [ 3.77007932e-03 -1.27170035e-06 9.99992893e-01 3.03206509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850888479 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:82.88, Y:30.18, Z:0.30 [[ 7.88644854e-01 -6.14841808e-01 -2.97391746e-03 8.28812792e+01] [ 6.14837442e-01 7.88650462e-01 -2.31717794e-03 3.01774110e+01] [ 3.77007926e-03 -1.04534259e-06 9.99992893e-01 3.02511349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88088847899999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:82.90, Y:30.20, Z:0.30 [[ 7.88127287e-01 -6.15505109e-01 -2.97327981e-03 8.29021114e+01] [ 6.15500744e-01 7.88132895e-01 -2.31799586e-03 3.01965609e+01] [ 3.77007792e-03 -3.18014945e-06 9.99992893e-01 3.03092274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.910888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:82.92, Y:30.21, Z:0.30 [[ 7.87603013e-01 -6.16175834e-01 -2.97263771e-03 8.29228845e+01] [ 6.16171470e-01 7.87608622e-01 -2.31881900e-03 3.02144012e+01] [ 3.77007533e-03 -5.34572018e-06 9.99992893e-01 3.03923152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.940888479 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:82.94, Y:30.23, Z:0.30 [[ 7.87090982e-01 -6.16829759e-01 -2.97235946e-03 8.29438399e+01] [ 6.16825399e-01 7.87096594e-01 -2.31917562e-03 3.02332316e+01] [ 3.77007055e-03 -8.02459077e-06 9.99992893e-01 3.03765348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.970888479 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:82.96, Y:30.25, Z:0.30 [[ 7.86669071e-01 -6.17367752e-01 -2.97172179e-03 8.29635858e+01] [ 6.17363393e-01 7.86674684e-01 -2.31999243e-03 3.02517819e+01] [ 3.77006681e-03 -9.56595705e-06 9.99992893e-01 3.03180675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000888479 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:82.98, Y:30.27, Z:0.30 [[ 7.86242019e-01 -6.17911529e-01 -2.97144534e-03 8.29830566e+01] [ 6.17907173e-01 7.86247634e-01 -2.32034645e-03 3.02729578e+01] [ 3.77006069e-03 -1.17235151e-05 9.99992893e-01 3.02141626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:83.00, Y:30.29, Z:0.30 [[ 7.82625251e-01 -6.22486057e-01 -2.97081346e-03 8.29950665e+01] [ 6.22481730e-01 7.82630889e-01 -2.32115518e-03 3.02922915e+01] [ 3.76993712e-03 -3.26824455e-05 9.99992893e-01 2.99627366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060888479 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:83.03, Y:30.31, Z:0.31 [[ 7.86096494e-01 -6.18096880e-01 -2.92387497e-03 8.30259150e+01] [ 6.18092297e-01 7.86101929e-01 -2.38113487e-03 3.03108646e+01] [ 3.77023579e-03 6.45771777e-05 9.99992891e-01 3.05138328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090888479 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:83.05, Y:30.33, Z:0.31 [[ 7.85690427e-01 -6.18612746e-01 -2.97043415e-03 8.30474568e+01] [ 6.18608390e-01 7.85696042e-01 -2.32156252e-03 3.03293552e+01] [ 3.77000652e-03 -1.35060368e-05 9.99992893e-01 3.06448100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120888479 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:83.07, Y:30.35, Z:0.31 [[ 7.85579715e-01 -6.18753337e-01 -2.96978387e-03 8.30673409e+01] [ 6.18748979e-01 7.85585328e-01 -2.32239407e-03 3.03475966e+01] [ 3.77000772e-03 -1.31250623e-05 9.99992893e-01 3.06098794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150888479 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:83.09, Y:30.37, Z:0.31 [[ 7.85603337e-01 -6.18723346e-01 -2.96950186e-03 8.30887003e+01] [ 6.18718987e-01 7.85608949e-01 -2.32275460e-03 3.03666224e+01] [ 3.77000973e-03 -1.25234147e-05 9.99992893e-01 3.05518647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180888479 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:83.11, Y:30.39, Z:0.31 [[ 7.85958530e-01 -6.18272088e-01 -2.96886984e-03 8.31099172e+01] [ 6.18267722e-01 7.85964137e-01 -2.32356215e-03 3.03856166e+01] [ 3.77001884e-03 -9.33290464e-06 9.99992893e-01 3.05461432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210888479 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:83.13, Y:30.40, Z:0.31 [[ 7.87503569e-01 -6.16302944e-01 -2.96823028e-03 8.31292171e+01] [ 6.16298561e-01 7.87509163e-01 -2.32437887e-03 3.04048993e+01] [ 3.77003008e-03 1.14060287e-06 9.99992893e-01 3.06932448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24088847899999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:83.15, Y:30.42, Z:0.31 [[ 7.88152070e-01 -6.15473400e-01 -2.96795331e-03 8.31503106e+01] [ 6.15469010e-01 7.88157658e-01 -2.32473247e-03 3.04229539e+01] [ 3.77002613e-03 5.55942110e-06 9.99992893e-01 3.08861084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27088847899999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:83.17, Y:30.44, Z:0.31 [[ 7.89192762e-01 -6.14138405e-01 -2.96731020e-03 8.31712104e+01] [ 6.14134002e-01 7.89198340e-01 -2.32555305e-03 3.04403574e+01] [ 3.77000772e-03 1.29835474e-05 9.99992893e-01 3.09003598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.300888479 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:83.19, Y:30.46, Z:0.31 [[ 7.90088914e-01 -6.12985077e-01 -2.96703125e-03 8.31929720e+01] [ 6.12980665e-01 7.90094485e-01 -2.32590889e-03 3.04580186e+01] [ 3.76998247e-03 1.89420413e-05 9.99992893e-01 3.08998834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.330888479 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:83.21, Y:30.48, Z:0.31 [[ 7.92288432e-01 -6.10139527e-01 -2.96638283e-03 8.32141001e+01] [ 6.10135091e-01 7.92293984e-01 -2.32673557e-03 3.04763160e+01] [ 3.76988061e-03 3.35514125e-05 9.99992893e-01 3.08228007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360888479 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:83.23, Y:30.49, Z:0.31 [[ 7.93339912e-01 -6.08771704e-01 -2.96572349e-03 8.32348282e+01] [ 6.08767256e-01 7.93345455e-01 -2.32757568e-03 3.04948009e+01] [ 3.76980546e-03 4.11233323e-05 9.99992893e-01 3.07266700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390888479 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:83.26, Y:30.51, Z:0.31 [[ 7.94352249e-01 -6.07450173e-01 -2.96506658e-03 8.32550582e+01] [ 6.07445713e-01 7.94357781e-01 -2.32841221e-03 3.05130864e+01] [ 3.76971811e-03 4.84624929e-05 9.99992893e-01 3.06258250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420888479 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:83.27, Y:30.53, Z:0.30 [[ 7.94062454e-01 -6.07828948e-01 -2.96478184e-03 8.32692820e+01] [ 6.07824489e-01 7.94067987e-01 -2.32877472e-03 3.05323701e+01] [ 3.76973503e-03 4.71255602e-05 9.99992893e-01 2.98778442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450888479 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:83.30, Y:30.55, Z:0.31 [[ 7.98012554e-01 -6.02633687e-01 -2.93302942e-03 8.32988405e+01] [ 6.02629042e-01 7.98017935e-01 -2.36914770e-03 3.05475773e+01] [ 3.76833829e-03 1.23080899e-04 9.99992892e-01 3.05126172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480888479 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:83.32, Y:30.57, Z:0.30 [[ 7.97053217e-01 -6.03901800e-01 -2.96415464e-03 8.33154424e+01] [ 6.03897310e-01 7.97058726e-01 -2.32954339e-03 3.05652466e+01] [ 3.76942076e-03 6.67250383e-05 9.99992893e-01 3.02114626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510888479 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:83.34, Y:30.58, Z:0.31 [[ 8.01308199e-01 -5.98244559e-01 -2.93565449e-03 8.33440545e+01] [ 5.98239898e-01 8.01313564e-01 -2.36576160e-03 3.05807079e+01] [ 3.76768377e-03 1.39478517e-04 9.99992893e-01 3.08000223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540888479 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:83.37, Y:30.60, Z:0.31 [[ 8.04632988e-01 -5.93765082e-01 -2.96338536e-03 8.33654466e+01] [ 5.93760520e-01 8.04638437e-01 -2.33049997e-03 3.05994371e+01] [ 3.76822327e-03 1.15655927e-04 9.99992894e-01 3.07530978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570888479 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:83.39, Y:30.62, Z:0.31 [[ 8.06097674e-01 -5.91775094e-01 -2.96273566e-03 8.33870284e+01] [ 5.91770516e-01 8.06103109e-01 -2.33132563e-03 3.06170223e+01] [ 3.76789087e-03 1.26016559e-04 9.99992894e-01 3.06960058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600888479 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:83.41, Y:30.63, Z:0.31 [[ 8.07379928e-01 -5.90024470e-01 -2.96253427e-03 8.34088976e+01] [ 5.90019879e-01 8.07385352e-01 -2.33158152e-03 3.06328668e+01] [ 3.76759692e-03 1.34518010e-04 9.99992894e-01 3.06798037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63088847899999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:83.43, Y:30.65, Z:0.30 [[ 8.06424296e-01 -5.91329925e-01 -2.96225499e-03 8.34284680e+01] [ 5.91325341e-01 8.06429726e-01 -2.33193629e-03 3.06498939e+01] [ 3.76779419e-03 1.28873640e-04 9.99992894e-01 3.03317628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.660888479 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:83.45, Y:30.66, Z:0.30 [[ 8.06245669e-01 -5.91573539e-01 -2.94419486e-03 8.34527218e+01] [ 5.91568873e-01 8.06251030e-01 -2.35488252e-03 3.06626123e+01] [ 3.76684632e-03 1.56919794e-04 9.99992893e-01 3.02633960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.690888479 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:83.48, Y:30.68, Z:0.30 [[ 8.05919813e-01 -5.92017439e-01 -2.93370768e-03 8.34774137e+01] [ 5.92012727e-01 8.05925135e-01 -2.36820163e-03 3.06789528e+01] [ 3.76636542e-03 1.71788329e-04 9.99992892e-01 3.03139666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.720888479 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:83.50, Y:30.69, Z:0.30 [[ 8.05212759e-01 -5.92978705e-01 -2.94413343e-03 8.35007824e+01] [ 5.92974048e-01 8.05218127e-01 -2.35495374e-03 3.06932955e+01] [ 3.76710703e-03 1.50444077e-04 9.99992893e-01 3.01995911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750888479 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:83.53, Y:30.71, Z:0.30 [[ 8.07522474e-01 -5.89829483e-01 -2.93847096e-03 8.35293226e+01] [ 5.89824779e-01 8.07527802e-01 -2.36214581e-03 3.07079692e+01] [ 3.76616023e-03 1.74302841e-04 9.99992893e-01 3.03406008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780888479 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:83.55, Y:30.72, Z:0.30 [[ 8.07702768e-01 -5.89582446e-01 -2.96260074e-03 8.35530024e+01] [ 5.89577852e-01 8.07708190e-01 -2.33148427e-03 3.07248874e+01] [ 3.76751908e-03 1.36462517e-04 9.99992894e-01 3.04575969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810888479 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:83.57, Y:30.74, Z:0.30 [[ 8.06702558e-01 -5.90950259e-01 -2.96205426e-03 8.35729047e+01] [ 5.90945672e-01 8.06707986e-01 -2.33217834e-03 3.07429421e+01] [ 3.76771422e-03 1.30961089e-04 9.99992894e-01 3.03477004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840888479 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:83.60, Y:30.76, Z:0.31 [[ 8.09570717e-01 -5.87014964e-01 -2.94729631e-03 8.36004477e+01] [ 5.87010282e-01 8.09576063e-01 -2.35091193e-03 3.07564660e+01] [ 3.76608103e-03 1.73136219e-04 9.99992893e-01 3.05999492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870888479 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:83.62, Y:30.77, Z:0.31 [[ 8.09416813e-01 -5.87227086e-01 -2.96173796e-03 8.36228390e+01] [ 5.87222472e-01 8.09422218e-01 -2.33257495e-03 3.07742132e+01] [ 3.76704770e-03 1.48826294e-04 9.99992894e-01 3.06115266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900888479 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:83.65, Y:30.79, Z:0.31 [[ 8.09680456e-01 -5.86863520e-01 -2.96112632e-03 8.36474634e+01] [ 5.86858901e-01 8.09685856e-01 -2.33335115e-03 3.07894070e+01] [ 3.76694077e-03 1.51505485e-04 9.99992894e-01 3.05582640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930888479 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:83.67, Y:30.80, Z:0.31 [[ 8.09711754e-01 -5.86820340e-01 -2.96059492e-03 8.36719434e+01] [ 5.86815718e-01 8.09717152e-01 -2.33402520e-03 3.08043494e+01] [ 3.76689795e-03 1.52564002e-04 9.99992894e-01 3.05633599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:83.70, Y:30.82, Z:0.30 [[ 8.09568797e-01 -5.87017548e-01 -2.96005837e-03 8.36958347e+01] [ 5.87012925e-01 8.09574194e-01 -2.33470546e-03 3.08193691e+01] [ 3.76689995e-03 1.52512171e-04 9.99992894e-01 3.04855030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99088847899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:83.72, Y:30.83, Z:0.30 [[ 8.09219809e-01 -5.87498545e-01 -2.95986800e-03 8.37207545e+01] [ 5.87493924e-01 8.09225208e-01 -2.33494679e-03 3.08324760e+01] [ 3.76697764e-03 1.50580731e-04 9.99992894e-01 3.02640236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02088847899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:83.74, Y:30.85, Z:0.31 [[ 8.08586662e-01 -5.88369654e-01 -2.95968018e-03 8.37444973e+01] [ 5.88365038e-01 8.08592066e-01 -2.33518484e-03 3.08479062e+01] [ 3.76712581e-03 1.46826975e-04 9.99992894e-01 3.05819636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.050888479 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:83.77, Y:30.86, Z:0.30 [[ 8.07864201e-01 -5.89361245e-01 -2.95902854e-03 8.37682645e+01] [ 5.89356632e-01 8.07869608e-01 -2.33601027e-03 3.08627352e+01] [ 3.76726315e-03 1.43255977e-04 9.99992894e-01 3.04739555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.080888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:83.80, Y:30.88, Z:0.31 [[ 8.06193141e-01 -5.91645049e-01 -2.95882640e-03 8.37954047e+01] [ 5.91640451e-01 8.06198560e-01 -2.33626628e-03 3.08753447e+01] [ 3.76764196e-03 1.32920470e-04 9.99992894e-01 3.09423870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.82, Y:30.89, Z:0.31 [[ 8.05243035e-01 -5.92937520e-01 -2.95824992e-03 8.38191046e+01] [ 5.92932928e-01 8.05248459e-01 -2.33699601e-03 3.08897522e+01] [ 3.76781881e-03 1.27805976e-04 9.99992894e-01 3.09414372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.84, Y:30.90, Z:0.31 [[ 8.04305278e-01 -5.94208945e-01 -2.95797639e-03 8.38439121e+01] [ 5.94204361e-01 8.04310708e-01 -2.33734217e-03 3.09048067e+01] [ 3.76800171e-03 1.22294172e-04 9.99992894e-01 3.10592756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.87, Y:30.92, Z:0.31 [[ 8.02721159e-01 -5.96347210e-01 -2.95741477e-03 8.38697604e+01] [ 5.96342638e-01 8.02726599e-01 -2.33805256e-03 3.09169647e+01] [ 3.76828662e-03 1.13171739e-04 9.99992894e-01 3.09486643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:83.89, Y:30.93, Z:0.31 [[ 8.01818182e-01 -5.97560756e-01 -2.95721628e-03 8.38940638e+01] [ 5.97556191e-01 8.01823628e-01 -2.33830358e-03 3.09330726e+01] [ 3.76844435e-03 1.07791431e-04 9.99992894e-01 3.13388292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:83.92, Y:30.95, Z:0.32 [[ 8.00936103e-01 -5.98742530e-01 -2.95667364e-03 8.39189210e+01] [ 5.98737970e-01 8.00941553e-01 -2.33898953e-03 3.09476387e+01] [ 3.76857529e-03 1.03108378e-04 9.99992894e-01 3.15112028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:83.94, Y:30.96, Z:0.31 [[ 8.00922343e-01 -5.98760939e-01 -2.95610252e-03 8.39412839e+01] [ 5.98756377e-01 8.00927791e-01 -2.33971111e-03 3.09628516e+01] [ 3.76855228e-03 1.03941672e-04 9.99992894e-01 3.13456730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.97, Y:30.98, Z:0.31 [[ 8.01527403e-01 -5.97950739e-01 -2.95583412e-03 8.39651285e+01] [ 5.97946169e-01 8.01532846e-01 -2.34005014e-03 3.09785885e+01] [ 3.76843284e-03 1.08184626e-04 9.99992894e-01 3.13044461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.99, Y:30.99, Z:0.31 [[ 8.01763228e-01 -5.97634497e-01 -2.95528470e-03 8.39887813e+01] [ 5.97629924e-01 8.01768667e-01 -2.34074381e-03 3.09947573e+01] [ 3.76836392e-03 1.10555748e-04 9.99992894e-01 3.13736287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:31.01, Z:0.31 [[ 8.02886301e-01 -5.96124868e-01 -2.95471942e-03 8.40139204e+01] [ 5.96120281e-01 8.02891729e-01 -2.34145715e-03 3.10089947e+01] [ 3.76812061e-03 1.18555696e-04 9.99992894e-01 3.14185331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.04, Y:31.02, Z:0.31 [[ 8.03171807e-01 -5.95740146e-01 -2.95414692e-03 8.40363870e+01] [ 5.95735554e-01 8.03177231e-01 -2.34217922e-03 3.10240588e+01] [ 3.76803374e-03 1.21281961e-04 9.99992894e-01 3.13178230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:31.04, Z:0.32 [[ 8.03292873e-01 -5.95576892e-01 -2.95386969e-03 8.40594299e+01] [ 5.95572298e-01 8.03298295e-01 -2.34252880e-03 3.10396587e+01] [ 3.76799451e-03 1.22493727e-04 9.99992894e-01 3.15611573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:31.05, Z:0.31 [[ 8.03582676e-01 -5.95185821e-01 -2.95321775e-03 8.40819496e+01] [ 5.95181221e-01 8.03588093e-01 -2.34335042e-03 3.10549685e+01] [ 3.76789956e-03 1.25376060e-04 9.99992894e-01 3.13830287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:31.07, Z:0.31 [[ 8.03931889e-01 -5.94714048e-01 -2.95293484e-03 8.41052872e+01] [ 5.94709443e-01 8.03937302e-01 -2.34370687e-03 3.10704066e+01] [ 3.76780986e-03 1.28042456e-04 9.99992894e-01 3.14637302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:31.09, Z:0.31 [[ 8.03917643e-01 -5.94733307e-01 -2.95230575e-03 8.41277061e+01] [ 5.94728700e-01 8.03923054e-01 -2.34449905e-03 3.10862690e+01] [ 3.76777833e-03 1.28963192e-04 9.99992894e-01 3.14551639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:31.10, Z:0.32 [[ 8.02160674e-01 -5.97100945e-01 -2.95207087e-03 8.41530409e+01] [ 5.97096353e-01 8.02166097e-01 -2.34479475e-03 3.11012545e+01] [ 3.76813033e-03 1.18231384e-04 9.99992894e-01 3.16193216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:31.12, Z:0.32 [[ 8.00587833e-01 -5.99208153e-01 -2.95153129e-03 8.41766781e+01] [ 5.99203573e-01 8.00593266e-01 -2.34547377e-03 3.11169563e+01] [ 3.76840308e-03 1.09189667e-04 9.99992894e-01 3.18621398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:31.13, Z:0.32 [[ 7.98793180e-01 -6.01598494e-01 -2.95088260e-03 8.42011401e+01] [ 6.01593926e-01 7.98798625e-01 -2.34628961e-03 3.11333062e+01] [ 3.76868526e-03 9.89670897e-05 9.99992894e-01 3.20394622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:31.15, Z:0.32 [[ 7.96830733e-01 -6.04195398e-01 -2.95031285e-03 8.42249593e+01] [ 6.04190846e-01 7.96836190e-01 -2.34700581e-03 3.11490890e+01] [ 3.76896616e-03 8.76143418e-05 9.99992894e-01 3.22450677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:31.17, Z:0.32 [[ 7.95160787e-01 -6.06391476e-01 -2.94973964e-03 8.42492677e+01] [ 6.06386936e-01 7.95166254e-01 -2.34772600e-03 3.11652188e+01] [ 3.76917446e-03 7.81360707e-05 9.99992894e-01 3.24904828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:31.18, Z:0.33 [[ 7.92365774e-01 -6.10039164e-01 -2.94917168e-03 8.42727543e+01] [ 6.10034647e-01 7.92371260e-01 -2.34843925e-03 3.11799165e+01] [ 3.76947880e-03 6.17259784e-05 9.99992894e-01 3.27173306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.30, Y:31.20, Z:0.33 [[ 7.91546949e-01 -6.11101245e-01 -2.94897067e-03 8.42954970e+01] [ 6.11096734e-01 7.91552440e-01 -2.34869164e-03 3.11967307e+01] [ 3.76955331e-03 5.69933532e-05 9.99992894e-01 3.28053241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:31.21, Z:0.33 [[ 7.90924529e-01 -6.11906608e-01 -2.94832642e-03 8.43179428e+01] [ 6.11902100e-01 7.90930022e-01 -2.34950008e-03 3.12135049e+01] [ 3.76959451e-03 5.41901139e-05 9.99992894e-01 3.27227594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:31.23, Z:0.32 [[ 7.90236588e-01 -6.12794784e-01 -2.94768158e-03 8.43419087e+01] [ 6.12790279e-01 7.90242083e-01 -2.35030883e-03 3.12306583e+01] [ 3.76963902e-03 5.09894144e-05 9.99992894e-01 3.23575334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:31.25, Z:0.32 [[ 7.89711912e-01 -6.13470790e-01 -2.94715714e-03 8.43639777e+01] [ 6.13466287e-01 7.89717410e-01 -2.35096626e-03 3.12475690e+01] [ 3.76967043e-03 4.86045116e-05 9.99992894e-01 3.21536710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:31.26, Z:0.32 [[ 7.89053619e-01 -6.14317265e-01 -2.94686070e-03 8.43865309e+01] [ 6.14312767e-01 7.89059121e-01 -2.35133778e-03 3.12644931e+01] [ 3.76971471e-03 4.50374394e-05 9.99992894e-01 3.21322624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:31.28, Z:0.32 [[ 7.87684483e-01 -6.16071810e-01 -2.94620867e-03 8.44093646e+01] [ 6.16067321e-01 7.87689992e-01 -2.35215449e-03 3.12804969e+01] [ 3.76979516e-03 3.76927145e-05 9.99992894e-01 3.21052140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890888479 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:84.43, Y:31.30, Z:0.32 [[ 7.86936879e-01 -6.17026476e-01 -2.94555938e-03 8.44309089e+01] [ 6.17021991e-01 7.86942391e-01 -2.35296730e-03 3.12966781e+01] [ 3.76982866e-03 3.41618370e-05 9.99992894e-01 3.19915381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:31.31, Z:0.32 [[ 7.86102573e-01 -6.18089048e-01 -2.94511855e-03 8.44539555e+01] [ 6.18084568e-01 7.86108089e-01 -2.35351894e-03 3.13141750e+01] [ 3.76986580e-03 2.97749674e-05 9.99992894e-01 3.22399594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:84.48, Y:31.33, Z:0.32 [[ 7.85083184e-01 -6.19383342e-01 -2.94455600e-03 8.44773256e+01] [ 6.19378868e-01 7.85088705e-01 -2.35422256e-03 3.13315658e+01] [ 3.76990389e-03 2.44647783e-05 9.99992894e-01 3.23036098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:31.35, Z:0.32 [[ 7.83621766e-01 -6.21231246e-01 -2.94399837e-03 8.45016671e+01] [ 6.21226783e-01 7.83627296e-01 -2.35491968e-03 3.13473930e+01] [ 3.76994716e-03 1.64756842e-05 9.99992894e-01 3.23179011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.52, Y:31.36, Z:0.32 [[ 7.82870124e-01 -6.22178194e-01 -2.94344392e-03 8.45238946e+01] [ 6.22173735e-01 7.82875657e-01 -2.35561249e-03 3.13638651e+01] [ 3.76996131e-03 1.28051464e-05 9.99992894e-01 3.22398377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:84.55, Y:31.38, Z:0.32 [[ 7.82110359e-01 -6.23132991e-01 -2.94324760e-03 8.45462933e+01] [ 6.23128537e-01 7.82115897e-01 -2.35585775e-03 3.13812502e+01] [ 3.76997342e-03 8.51917530e-06 9.99992894e-01 3.22428232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:84.57, Y:31.40, Z:0.32 [[ 7.81460424e-01 -6.23947871e-01 -2.94262267e-03 8.45680089e+01] [ 6.23943421e-01 7.81465965e-01 -2.35663807e-03 3.13983281e+01] [ 3.76997877e-03 5.58932835e-06 9.99992894e-01 3.22004072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100888479 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:84.59, Y:31.42, Z:0.32 [[ 7.79335623e-01 -6.26599818e-01 -2.94200268e-03 8.45902014e+01] [ 6.26595383e-01 7.79341176e-01 -2.35741181e-03 3.14151984e+01] [ 3.76997764e-03 -6.23029866e-06 9.99992894e-01 3.22841065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13088847899999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:84.61, Y:31.43, Z:0.32 [[ 7.78146271e-01 -6.28076211e-01 -2.94181053e-03 8.46132571e+01] [ 6.28071786e-01 7.78151832e-01 -2.35765157e-03 3.14320375e+01] [ 3.76996011e-03 -1.30704172e-05 9.99992894e-01 3.24298697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.160888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:84.64, Y:31.45, Z:0.33 [[ 7.77090840e-01 -6.29381581e-01 -2.94126572e-03 8.46356449e+01] [ 6.29377163e-01 7.77096406e-01 -2.35833104e-03 3.14487954e+01] [ 3.76993714e-03 -1.85280292e-05 9.99992894e-01 3.26008509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.190888479 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:84.66, Y:31.47, Z:0.33 [[ 7.76406323e-01 -6.30225813e-01 -2.94063499e-03 8.46565169e+01] [ 6.30221397e-01 7.76411891e-01 -2.35911725e-03 3.14654380e+01] [ 3.76992056e-03 -2.16175403e-05 9.99992894e-01 3.25281553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.220888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:84.68, Y:31.48, Z:0.33 [[ 7.76094596e-01 -6.30609652e-01 -2.94029690e-03 8.46788462e+01] [ 6.30605238e-01 7.76100165e-01 -2.35953855e-03 3.14839798e+01] [ 3.76991269e-03 -2.29415154e-05 9.99992894e-01 3.25061144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250888479 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:84.70, Y:31.50, Z:0.33 [[ 7.76184211e-01 -6.30499348e-01 -2.93974987e-03 8.46996987e+01] [ 6.30494931e-01 7.76189778e-01 -2.36021990e-03 3.15010344e+01] [ 3.76992091e-03 -2.15319704e-05 9.99992894e-01 3.25379893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280888479 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:84.72, Y:31.52, Z:0.32 [[ 7.76492197e-01 -6.30120011e-01 -2.93939150e-03 8.47202995e+01] [ 6.30115590e-01 7.76497760e-01 -2.36066612e-03 3.15193845e+01] [ 3.76993388e-03 -1.91175882e-05 9.99992894e-01 3.22826666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:84.74, Y:31.54, Z:0.33 [[ 7.77000416e-01 -6.29493220e-01 -2.93918131e-03 8.47418286e+01] [ 6.29488793e-01 7.77005975e-01 -2.36092779e-03 3.15379961e+01] [ 3.76994948e-03 -1.57398158e-05 9.99992894e-01 3.25378611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:84.76, Y:31.56, Z:0.32 [[ 7.77262496e-01 -6.29169593e-01 -2.93853854e-03 8.47622197e+01] [ 6.29165161e-01 7.77268051e-01 -2.36172755e-03 3.15561408e+01] [ 3.76995929e-03 -1.31438178e-05 9.99992894e-01 3.24983404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:84.78, Y:31.57, Z:0.33 [[ 7.77629022e-01 -6.28716526e-01 -2.93827152e-03 8.47848012e+01] [ 6.28712089e-01 7.77634573e-01 -2.36205971e-03 3.15741908e+01] [ 3.76996749e-03 -1.05206475e-05 9.99992894e-01 3.27567068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400888479 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:84.81, Y:31.59, Z:0.33 [[ 7.80002161e-01 -6.25769925e-01 -2.93769909e-03 8.48051204e+01] [ 6.25765464e-01 7.80007693e-01 -2.36277143e-03 3.15931287e+01] [ 3.76997919e-03 4.65618699e-06 9.99992894e-01 3.31103612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:84.83, Y:31.61, Z:0.33 [[ 7.81299187e-01 -6.24149785e-01 -2.93713726e-03 8.48250750e+01] [ 6.24145310e-01 7.81304707e-01 -2.36346963e-03 3.16104375e+01] [ 3.76995823e-03 1.33764582e-05 9.99992894e-01 3.32319206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:31.63, Z:0.33 [[ 7.82038676e-01 -6.23223035e-01 -2.92551779e-03 8.48492571e+01] [ 6.23218499e-01 7.82044147e-01 -2.37790368e-03 3.16294826e+01] [ 3.76984841e-03 3.63758427e-05 9.99992893e-01 3.33852660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:31.65, Z:0.33 [[ 7.83350578e-01 -6.21573204e-01 -2.93658492e-03 8.48692209e+01] [ 6.21568708e-01 7.83356082e-01 -2.36415689e-03 3.16493892e+01] [ 3.76988823e-03 2.66743690e-05 9.99992894e-01 3.32164759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:84.89, Y:31.67, Z:0.33 [[ 7.85680278e-01 -6.18625800e-01 -2.93602349e-03 8.48899054e+01] [ 6.18621281e-01 7.85685763e-01 -2.36485392e-03 3.16685245e+01] [ 3.76975150e-03 4.17324788e-05 9.99992894e-01 3.32202744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:31.69, Z:0.33 [[ 7.86299611e-01 -6.17838414e-01 -2.93538298e-03 8.49119053e+01] [ 6.17833887e-01 7.86305088e-01 -2.36564869e-03 3.16861516e+01] [ 3.76969521e-03 4.65295724e-05 9.99992894e-01 3.33249292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:31.70, Z:0.33 [[ 7.86519975e-01 -6.17557865e-01 -2.93473624e-03 8.49336212e+01] [ 6.17553333e-01 7.86525448e-01 -2.36645074e-03 3.17037380e+01] [ 3.76966500e-03 4.89046264e-05 9.99992894e-01 3.34564651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:31.72, Z:0.33 [[ 7.87267434e-01 -6.16604718e-01 -2.93407251e-03 8.49535363e+01] [ 6.16600176e-01 7.87272900e-01 -2.36727339e-03 3.17213777e+01] [ 3.76958771e-03 5.45276204e-05 9.99992894e-01 3.33918730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:31.74, Z:0.33 [[ 7.88532940e-01 -6.14985525e-01 -2.93378441e-03 8.49780530e+01] [ 6.14980971e-01 7.88538395e-01 -2.36763038e-03 3.17386388e+01] [ 3.76946006e-03 6.27329610e-05 9.99992894e-01 3.34759547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:31.76, Z:0.33 [[ 7.88270677e-01 -6.15321622e-01 -2.93959138e-03 8.49970164e+01] [ 6.15317097e-01 7.88276157e-01 -2.36043656e-03 3.17582904e+01] [ 3.76963745e-03 5.18820950e-05 9.99992894e-01 3.31745932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:31.78, Z:0.33 [[ 7.88310484e-01 -6.15270655e-01 -2.93294186e-03 8.50185201e+01] [ 6.15266099e-01 7.88315937e-01 -2.36867015e-03 3.17760126e+01] [ 3.76945805e-03 6.27078161e-05 9.99992894e-01 3.33874455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:31.79, Z:0.33 [[ 7.88487421e-01 -6.15043891e-01 -2.93228384e-03 8.50400599e+01] [ 6.15039330e-01 7.88492871e-01 -2.36948447e-03 3.17940944e+01] [ 3.76942185e-03 6.48388143e-05 9.99992894e-01 3.32910911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:31.81, Z:0.33 [[ 7.88319086e-01 -6.15259637e-01 -2.93208022e-03 8.50622521e+01] [ 6.15255077e-01 7.88324536e-01 -2.36973640e-03 3.18121340e+01] [ 3.76943394e-03 6.41311902e-05 9.99992894e-01 3.33018588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:31.83, Z:0.33 [[ 7.88096145e-01 -6.15545184e-01 -2.93143153e-03 8.50835543e+01] [ 6.15540622e-01 7.88101594e-01 -2.37053859e-03 3.18311065e+01] [ 3.76943947e-03 6.37971363e-05 9.99992894e-01 3.31835142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:85.11, Y:31.85, Z:0.33 [[ 7.88193528e-01 -6.15420485e-01 -2.93077701e-03 8.51072480e+01] [ 6.15415920e-01 7.88198974e-01 -2.37134752e-03 3.18484124e+01] [ 3.76941127e-03 6.54339403e-05 9.99992894e-01 3.34134841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:31.87, Z:0.33 [[ 7.86767780e-01 -6.17242139e-01 -2.93291108e-03 8.51287765e+01] [ 6.17237596e-01 7.86773245e-01 -2.36871095e-03 3.18666186e+01] [ 3.76960418e-03 5.33224676e-05 9.99992894e-01 3.34480289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:31.88, Z:0.34 [[ 7.85786904e-01 -6.18490386e-01 -2.92994592e-03 8.51520381e+01] [ 6.18485838e-01 7.85792365e-01 -2.37237301e-03 3.18836826e+01] [ 3.76961903e-03 5.20495856e-05 9.99992894e-01 3.37400520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:31.90, Z:0.34 [[ 7.83889780e-01 -6.20893092e-01 -2.92937824e-03 8.51743483e+01] [ 6.20888558e-01 7.83895252e-01 -2.37307376e-03 3.19007521e+01] [ 3.76975080e-03 4.14108362e-05 9.99992894e-01 3.39072098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:31.92, Z:0.34 [[ 7.83189857e-01 -6.21775738e-01 -2.92917670e-03 8.51949531e+01] [ 6.21771209e-01 7.83195334e-01 -2.37332250e-03 3.19182128e+01] [ 3.76979187e-03 3.74843707e-05 9.99992894e-01 3.37379756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:31.94, Z:0.34 [[ 7.82681890e-01 -6.22415039e-01 -2.92892677e-03 8.52168576e+01] [ 6.22410513e-01 7.82687370e-01 -2.37363091e-03 3.19365627e+01] [ 3.76981756e-03 3.48031112e-05 9.99992894e-01 3.37513366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.24, Y:31.95, Z:0.34 [[ 7.82130348e-01 -6.23107971e-01 -2.92827908e-03 8.52387187e+01] [ 6.23103448e-01 7.82135829e-01 -2.37442967e-03 3.19542549e+01] [ 3.76983804e-03 3.24927160e-05 9.99992894e-01 3.36955561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:31.97, Z:0.34 [[ 7.81124703e-01 -6.24368183e-01 -2.92763148e-03 8.52606445e+01] [ 6.24363666e-01 7.81130189e-01 -2.37522788e-03 3.19702539e+01] [ 3.76987805e-03 2.74424511e-05 9.99992894e-01 3.36669099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:31.99, Z:0.34 [[ 7.80501580e-01 -6.25146955e-01 -2.92735871e-03 8.52829841e+01] [ 6.25142442e-01 7.80507069e-01 -2.37556402e-03 3.19872570e+01] [ 3.76990077e-03 2.41152979e-05 9.99992894e-01 3.37055456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:32.00, Z:0.34 [[ 7.79213170e-01 -6.26752160e-01 -2.92671815e-03 8.53054498e+01] [ 6.26747655e-01 7.79218666e-01 -2.37635292e-03 3.20041804e+01] [ 3.76993774e-03 1.73717513e-05 9.99992894e-01 3.37821280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:32.02, Z:0.34 [[ 7.78747431e-01 -6.27330756e-01 -2.92608082e-03 8.53278361e+01] [ 6.27326252e-01 7.78752928e-01 -2.37713743e-03 3.20222860e+01] [ 3.76994543e-03 1.55823510e-05 9.99992894e-01 3.38896283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:32.04, Z:0.34 [[ 7.78405107e-01 -6.27755471e-01 -2.92552138e-03 8.53502265e+01] [ 6.27750967e-01 7.78410604e-01 -2.37782573e-03 3.20404737e+01] [ 3.76994997e-03 1.44128137e-05 9.99992894e-01 3.39732848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:32.06, Z:0.34 [[ 7.78085901e-01 -6.28151077e-01 -2.92496161e-03 8.53717177e+01] [ 6.28146573e-01 7.78091399e-01 -2.37851410e-03 3.20581667e+01] [ 3.76995366e-03 1.33836771e-05 9.99992894e-01 3.41202381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:32.08, Z:0.34 [[ 7.78172581e-01 -6.28043695e-01 -2.92429909e-03 8.53926831e+01] [ 6.28039188e-01 7.78178075e-01 -2.37932836e-03 3.20754164e+01] [ 3.76994762e-03 1.49536644e-05 9.99992894e-01 3.40378065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:32.09, Z:0.34 [[ 7.79636371e-01 -6.26225662e-01 -2.92401952e-03 8.54204972e+01] [ 6.26221141e-01 7.79641854e-01 -2.37967189e-03 3.20927117e+01] [ 3.76989960e-03 2.41959227e-05 9.99992894e-01 3.39117256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:32.11, Z:0.34 [[ 7.77625567e-01 -6.28720769e-01 -2.94490640e-03 8.54381533e+01] [ 6.28716363e-01 7.77631143e-01 -2.35400611e-03 3.21120086e+01] [ 3.77006346e-03 -2.09755094e-05 9.99992893e-01 3.42121768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:32.13, Z:0.34 [[ 7.77053403e-01 -6.29427887e-01 -2.92300529e-03 8.54594197e+01] [ 6.29423384e-01 7.77058901e-01 -2.38089394e-03 3.21287836e+01] [ 3.76994832e-03 1.02738572e-05 9.99992894e-01 3.41991134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:32.15, Z:0.34 [[ 7.75832957e-01 -6.30931598e-01 -2.92273160e-03 8.54810889e+01] [ 6.30927104e-01 7.75838462e-01 -2.38122987e-03 3.21461540e+01] [ 3.76996075e-03 3.40602595e-06 9.99992894e-01 3.41907769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:32.16, Z:0.34 [[ 7.75545527e-01 -6.31284878e-01 -2.92207805e-03 8.55028110e+01] [ 6.31280384e-01 7.75551032e-01 -2.38203159e-03 3.21636831e+01] [ 3.76996117e-03 2.72339259e-06 9.99992894e-01 3.41849762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.52, Y:32.18, Z:0.34 [[ 7.75447681e-01 -6.31405067e-01 -2.92142513e-03 8.55248949e+01] [ 6.31400571e-01 7.75453184e-01 -2.38283208e-03 3.21815786e+01] [ 3.76996067e-03 3.17211819e-06 9.99992894e-01 3.42799086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:32.20, Z:0.35 [[ 7.76238867e-01 -6.30432146e-01 -2.92077153e-03 8.55475527e+01] [ 6.30427640e-01 7.76244362e-01 -2.38363298e-03 3.22000249e+01] [ 3.76995128e-03 8.93345962e-06 9.99992894e-01 3.45155881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:32.22, Z:0.35 [[ 7.76865241e-01 -6.29660122e-01 -2.92020016e-03 8.55693441e+01] [ 6.29655608e-01 7.76870730e-01 -2.38433275e-03 3.22181853e+01] [ 3.76993728e-03 1.35848297e-05 9.99992894e-01 3.45248807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:32.24, Z:0.34 [[ 7.77545520e-01 -6.28819879e-01 -2.91954917e-03 8.55898760e+01] [ 6.28815356e-01 7.77551001e-01 -2.38512960e-03 3.22362350e+01] [ 3.76991529e-03 1.86894849e-05 9.99992894e-01 3.43754647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:32.25, Z:0.34 [[ 7.78297083e-01 -6.27889424e-01 -2.91926739e-03 8.56114598e+01] [ 6.27884893e-01 7.78302557e-01 -2.38547444e-03 3.22549226e+01] [ 3.76988745e-03 2.36439002e-05 9.99992894e-01 3.42266970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:32.27, Z:0.34 [[ 7.79235325e-01 -6.26724653e-01 -2.91870065e-03 8.56336512e+01] [ 6.26720111e-01 7.79240790e-01 -2.38616766e-03 3.22737111e+01] [ 3.76984070e-03 3.01777307e-05 9.99992894e-01 3.39932241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:32.29, Z:0.34 [[ 7.79641833e-01 -6.26218889e-01 -2.91813704e-03 8.56551954e+01] [ 6.26214341e-01 7.79647294e-01 -2.38685673e-03 3.22905004e+01] [ 3.76981241e-03 3.35140915e-05 9.99992894e-01 3.37601587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:32.31, Z:0.34 [[ 7.79780501e-01 -6.26046210e-01 -2.91779195e-03 8.56771773e+01] [ 6.26041659e-01 7.79785959e-01 -2.38727850e-03 3.23078789e+01] [ 3.76979985e-03 3.48939156e-05 9.99992894e-01 3.40031758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:32.33, Z:0.34 [[ 7.80027298e-01 -6.25738687e-01 -2.91714453e-03 8.56998351e+01] [ 6.25734131e-01 7.80032752e-01 -2.38806936e-03 3.23262355e+01] [ 3.76977566e-03 3.74023924e-05 9.99992894e-01 3.40020731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:32.34, Z:0.34 [[ 7.80690329e-01 -6.24911277e-01 -2.91657705e-03 8.57210787e+01] [ 6.24906713e-01 7.80695775e-01 -2.38876222e-03 3.23443044e+01] [ 3.76972384e-03 4.22949827e-05 9.99992894e-01 3.40518342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:32.36, Z:0.34 [[ 7.81114112e-01 -6.24381487e-01 -2.91592229e-03 8.57424055e+01] [ 6.24376916e-01 7.81119554e-01 -2.38956121e-03 3.23621169e+01] [ 3.76968170e-03 4.58854133e-05 9.99992894e-01 3.41485975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:32.38, Z:0.34 [[ 7.81655606e-01 -6.23703468e-01 -2.91526055e-03 8.57633525e+01] [ 6.23698889e-01 7.81661040e-01 -2.39036827e-03 3.23799691e+01] [ 3.76962657e-03 5.01999915e-05 9.99992894e-01 3.41213003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:32.40, Z:0.34 [[ 7.82074553e-01 -6.23178062e-01 -2.91495361e-03 8.57859711e+01] [ 6.23173478e-01 7.82079983e-01 -2.39074251e-03 3.23973830e+01] [ 3.76958515e-03 5.32170977e-05 9.99992894e-01 3.42564966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:32.41, Z:0.34 [[ 7.81598139e-01 -6.23775485e-01 -2.91438770e-03 8.58083725e+01] [ 6.23770903e-01 7.81603571e-01 -2.39143217e-03 3.24140049e+01] [ 3.76961259e-03 5.12286854e-05 9.99992894e-01 3.43585847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:32.43, Z:0.34 [[ 7.79395405e-01 -6.26525588e-01 -2.91373345e-03 8.58311101e+01] [ 6.26521022e-01 7.79400851e-01 -2.39222904e-03 3.24315325e+01] [ 3.76975904e-03 3.89770639e-05 9.99992894e-01 3.42831677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:32.45, Z:0.34 [[ 7.78112409e-01 -6.28118295e-01 -2.91315789e-03 8.58518978e+01] [ 6.28113738e-01 7.78117861e-01 -2.39292973e-03 3.24488886e+01] [ 3.76982313e-03 3.21738184e-05 9.99992894e-01 3.42418035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:32.47, Z:0.34 [[ 7.76608676e-01 -6.29976570e-01 -2.91287276e-03 8.58737618e+01] [ 6.29972025e-01 7.76614139e-01 -2.39327677e-03 3.24669478e+01] [ 3.76988646e-03 2.36111515e-05 9.99992894e-01 3.43045845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:32.48, Z:0.35 [[ 7.74955311e-01 -6.32009321e-01 -2.91267039e-03 8.58956206e+01] [ 6.32004789e-01 7.74960784e-01 -2.39352302e-03 3.24838785e+01] [ 3.76993419e-03 1.40517412e-05 9.99992894e-01 3.45253653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:32.50, Z:0.35 [[ 7.72184419e-01 -6.35391803e-01 -2.91201557e-03 8.59173029e+01] [ 6.35387292e-01 7.72189910e-01 -2.39431943e-03 3.25006191e+01] [ 3.76995998e-03 -1.40153014e-06 9.99992894e-01 3.47306356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:32.52, Z:0.35 [[ 7.70934906e-01 -6.36907288e-01 -2.91165816e-03 8.59379170e+01] [ 6.36902786e-01 7.70940404e-01 -2.39475399e-03 3.25182319e+01] [ 3.76995119e-03 -8.24375404e-06 9.99992894e-01 3.47160161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:32.54, Z:0.35 [[ 7.67256708e-01 -6.41333508e-01 -2.91130829e-03 8.59592465e+01] [ 6.41329036e-01 7.67262231e-01 -2.39517925e-03 3.25377945e+01] [ 3.76984560e-03 -2.93891852e-05 9.99992894e-01 3.45583115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:32.56, Z:0.34 [[ 7.65043667e-01 -6.43971828e-01 -2.91073887e-03 8.59812980e+01] [ 6.43967373e-01 7.65049203e-01 -2.39587103e-03 3.25566958e+01] [ 3.76973190e-03 -4.14749029e-05 9.99992894e-01 3.44488361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:32.57, Z:0.34 [[ 7.62452637e-01 -6.47037485e-01 -2.91016855e-03 8.60023056e+01] [ 6.47033049e-01 7.62458189e-01 -2.39656358e-03 3.25747086e+01] [ 3.76954831e-03 -5.57090146e-05 9.99992894e-01 3.43451556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:32.59, Z:0.34 [[ 7.59971363e-01 -6.49950045e-01 -2.90952014e-03 8.60237852e+01] [ 6.49945628e-01 7.59976930e-01 -2.39735051e-03 3.25928370e+01] [ 3.76932626e-03 -6.91121590e-05 9.99992894e-01 3.43798550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:32.61, Z:0.35 [[ 7.56185618e-01 -6.54350709e-01 -2.90887319e-03 8.60439138e+01] [ 6.54346321e-01 7.56191207e-01 -2.39813525e-03 3.26111106e+01] [ 3.76888583e-03 -8.99750885e-05 9.99992894e-01 3.45986218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:32.63, Z:0.35 [[ 7.54542768e-01 -6.56244430e-01 -2.90850683e-03 8.60638138e+01] [ 6.56240054e-01 7.54548367e-01 -2.39857950e-03 3.26301777e+01] [ 3.76866351e-03 -9.88478641e-05 9.99992894e-01 3.46007773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:32.65, Z:0.35 [[ 7.53536675e-01 -6.57399439e-01 -2.90814313e-03 8.60841453e+01] [ 6.57395070e-01 7.53542279e-01 -2.39902038e-03 3.26502093e+01] [ 3.76852346e-03 -1.04049120e-04 9.99992894e-01 3.46546615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:32.67, Z:0.35 [[ 7.52989475e-01 -6.58026137e-01 -2.90751785e-03 8.61039267e+01] [ 6.58021770e-01 7.52995081e-01 -2.39977796e-03 3.26702220e+01] [ 3.76846326e-03 -1.06202493e-04 9.99992894e-01 3.46428025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:32.69, Z:0.35 [[ 7.52684607e-01 -6.58374842e-01 -2.90689045e-03 8.61228894e+01] [ 6.58370474e-01 7.52690213e-01 -2.40053769e-03 3.26919550e+01] [ 3.76844162e-03 -1.06963076e-04 9.99992894e-01 3.49478527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:86.14, Y:32.71, Z:0.35 [[ 7.52892534e-01 -6.58137058e-01 -2.90622108e-03 8.61433478e+01] [ 6.58132685e-01 7.52898135e-01 -2.40134780e-03 3.27113426e+01] [ 3.76850441e-03 -1.04722252e-04 9.99992894e-01 3.50303532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:32.73, Z:0.35 [[ 7.53079439e-01 -6.57923183e-01 -2.90591002e-03 8.61638460e+01] [ 6.57918807e-01 7.53085038e-01 -2.40172416e-03 3.27315988e+01] [ 3.76854736e-03 -1.03163771e-04 9.99992894e-01 3.51575872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:32.76, Z:0.35 [[ 7.54728277e-01 -6.56031087e-01 -2.90533306e-03 8.61798873e+01] [ 6.56026694e-01 7.54733864e-01 -2.40242189e-03 3.27553409e+01] [ 3.76881669e-03 -9.28003082e-05 9.99992894e-01 3.50083264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.20, Y:32.78, Z:0.35 [[ 7.55816841e-01 -6.54776652e-01 -2.90505747e-03 8.61984970e+01] [ 6.54772249e-01 7.55822419e-01 -2.40275510e-03 3.27768917e+01] [ 3.76897550e-03 -8.61082404e-05 9.99992894e-01 3.49555123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:32.80, Z:0.35 [[ 7.56941792e-01 -6.53475851e-01 -2.90439295e-03 8.62180586e+01] [ 6.53471436e-01 7.56947360e-01 -2.40355809e-03 3.27988868e+01] [ 3.76913974e-03 -7.85842589e-05 9.99992894e-01 3.49784073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.410888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.24, Y:32.82, Z:0.35 [[ 7.60349335e-01 -6.49507857e-01 -2.90380840e-03 8.62352181e+01] [ 6.49503409e-01 7.60354878e-01 -2.40426409e-03 3.28218638e+01] [ 3.76951330e-03 -5.79528484e-05 9.99992894e-01 3.51450470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.25, Y:32.84, Z:0.35 [[ 7.61930964e-01 -6.47651739e-01 -2.90360153e-03 8.62541571e+01] [ 6.47647277e-01 7.61936495e-01 -2.40451390e-03 3.28417251e+01] [ 3.76964758e-03 -4.84360263e-05 9.99992894e-01 3.52493115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.470888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.27, Y:32.86, Z:0.35 [[ 7.63752635e-01 -6.45502505e-01 -2.90331464e-03 8.62733357e+01] [ 6.45498026e-01 7.63758152e-01 -2.40486026e-03 3.28616756e+01] [ 3.76977354e-03 -3.73655111e-05 9.99992894e-01 3.53055480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:86.29, Y:32.89, Z:0.35 [[ 7.67365136e-01 -6.41203805e-01 -2.90302968e-03 8.62897600e+01] [ 6.41199294e-01 7.67370627e-01 -2.40520420e-03 3.28863069e+01] [ 3.76992579e-03 -1.57507359e-05 9.99992894e-01 3.52693263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530888479 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:86.31, Y:32.91, Z:0.35 [[ 7.69124131e-01 -6.39092832e-01 -2.90238015e-03 8.63083878e+01] [ 6.39088303e-01 7.69129607e-01 -2.40598773e-03 3.29079888e+01] [ 3.76995602e-03 -4.37397925e-06 9.99992894e-01 3.52478287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:86.33, Y:32.93, Z:0.35 [[ 7.70887223e-01 -6.36965046e-01 -2.90172379e-03 8.63275507e+01] [ 6.36960499e-01 7.70892684e-01 -2.40677907e-03 3.29294985e+01] [ 3.76995178e-03 7.07179542e-06 9.99992894e-01 3.52320848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590888479 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:86.35, Y:32.95, Z:0.35 [[ 7.72535014e-01 -6.34965539e-01 -2.90105341e-03 8.63461185e+01] [ 6.34960975e-01 7.72540461e-01 -2.40758686e-03 3.29490817e+01] [ 3.76991582e-03 1.78894459e-05 9.99992894e-01 3.51434902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620888479 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:86.37, Y:32.97, Z:0.35 [[ 7.75239713e-01 -6.31660489e-01 -2.90077721e-03 8.63651919e+01] [ 6.31655901e-01 7.75245139e-01 -2.40791959e-03 3.29710541e+01] [ 3.76980110e-03 3.44218466e-05 9.99992894e-01 3.50221207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650888479 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:86.38, Y:32.99, Z:0.35 [[ 7.75849351e-01 -6.30911542e-01 -2.90019610e-03 8.63847052e+01] [ 6.30906945e-01 7.75854770e-01 -2.40861929e-03 3.29909993e+01] [ 3.76975669e-03 3.89718515e-05 9.99992894e-01 3.49576003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680888479 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:86.40, Y:33.01, Z:0.35 [[ 7.76485360e-01 -6.30128621e-01 -2.89953346e-03 8.64041918e+01] [ 6.30124016e-01 7.76490772e-01 -2.40941673e-03 3.30113077e+01] [ 3.76970342e-03 4.38111457e-05 9.99992894e-01 3.49212465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710888479 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:86.43, Y:33.03, Z:0.35 [[ 7.76311763e-01 -6.30342481e-01 -2.89887044e-03 8.64261197e+01] [ 6.30337875e-01 7.76317174e-01 -2.41021417e-03 3.30296404e+01] [ 3.76970329e-03 4.38097801e-05 9.99992894e-01 3.49319840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74088847899999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:86.44, Y:33.05, Z:0.35 [[ 7.77266621e-01 -6.29164684e-01 -2.89820633e-03 8.64442611e+01] [ 6.29160067e-01 7.77272023e-01 -2.41101248e-03 3.30518504e+01] [ 3.76961860e-03 5.05638413e-05 9.99992894e-01 3.49019522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77088847899999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:86.46, Y:33.07, Z:0.35 [[ 7.77595128e-01 -6.28758636e-01 -2.89752754e-03 8.64646180e+01] [ 6.28754012e-01 7.77600524e-01 -2.41182796e-03 3.30715836e+01] [ 3.76957659e-03 5.35936065e-05 9.99992894e-01 3.48442572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.800888479 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:86.48, Y:33.09, Z:0.35 [[ 7.78400648e-01 -6.27761132e-01 -2.89685363e-03 8.64848531e+01] [ 6.27756499e-01 7.78406037e-01 -2.41263713e-03 3.30903105e+01] [ 3.76948817e-03 5.94796138e-05 9.99992894e-01 3.47497422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.830888479 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:86.50, Y:33.11, Z:0.35 [[ 7.79644705e-01 -6.26215413e-01 -2.89656925e-03 8.65036803e+01] [ 6.26210768e-01 7.79650083e-01 -2.41297850e-03 3.31116499e+01] [ 3.76935479e-03 6.74030552e-05 9.99992894e-01 3.48875262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860888479 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:86.52, Y:33.13, Z:0.35 [[ 7.80296646e-01 -6.25402876e-01 -2.89589322e-03 8.65229752e+01] [ 6.25398222e-01 7.80302017e-01 -2.41378956e-03 3.31307811e+01] [ 3.76926225e-03 7.23854304e-05 9.99992894e-01 3.48245367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890888479 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:86.54, Y:33.15, Z:0.35 [[ 7.80686283e-01 -6.24916429e-01 -2.89560011e-03 8.65424302e+01] [ 6.24911770e-01 7.80691649e-01 -2.41414112e-03 3.31494480e+01] [ 3.76920727e-03 7.51922617e-05 9.99992894e-01 3.46103869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920888479 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:86.56, Y:33.17, Z:0.35 [[ 7.80933738e-01 -6.24607168e-01 -2.89531983e-03 8.65624674e+01] [ 6.24602506e-01 7.80939101e-01 -2.41447722e-03 3.31702402e+01] [ 3.76916824e-03 7.71227043e-05 9.99992894e-01 3.45828728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950888479 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:86.58, Y:33.19, Z:0.34 [[ 7.80877942e-01 -6.24676924e-01 -2.89473803e-03 8.65827749e+01] [ 6.24672260e-01 7.80883304e-01 -2.41517454e-03 3.31890443e+01] [ 3.76915640e-03 7.76939803e-05 9.99992894e-01 3.43945862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980888479 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:86.60, Y:33.21, Z:0.34 [[ 7.80515162e-01 -6.25130150e-01 -2.89446843e-03 8.66037791e+01] [ 6.25125488e-01 7.80520525e-01 -2.41549760e-03 3.32075617e+01] [ 3.76919240e-03 7.59265105e-05 9.99992894e-01 3.44520306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010888479 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:86.63, Y:33.23, Z:0.35 [[ 7.79797574e-01 -6.26025053e-01 -2.89427398e-03 8.66256102e+01] [ 6.26020396e-01 7.79802942e-01 -2.41573057e-03 3.32260383e+01] [ 3.76927122e-03 7.19062883e-05 9.99992894e-01 3.45771059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040888479 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:86.65, Y:33.24, Z:0.35 [[ 7.78674511e-01 -6.27421416e-01 -2.89373225e-03 8.66474521e+01] [ 6.27416766e-01 7.78679885e-01 -2.41637931e-03 3.32447126e+01] [ 3.76937923e-03 6.59968480e-05 9.99992894e-01 3.49981137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070888479 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:86.67, Y:33.26, Z:0.35 [[ 7.78201796e-01 -6.28007638e-01 -2.89315768e-03 8.66691590e+01] [ 6.28002990e-01 7.78207172e-01 -2.41706706e-03 3.32635175e+01] [ 3.76941263e-03 6.40542582e-05 9.99992894e-01 3.51376765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10088847899999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:86.69, Y:33.28, Z:0.35 [[ 7.77778190e-01 -6.28532195e-01 -2.89257577e-03 8.66906113e+01] [ 6.28527548e-01 7.77783566e-01 -2.41776325e-03 3.32825913e+01] [ 3.76943994e-03 6.24199682e-05 9.99992894e-01 3.52561049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13088847899999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:86.71, Y:33.30, Z:0.35 [[ 7.77427722e-01 -6.28965638e-01 -2.89199471e-03 8.67108540e+01] [ 6.28960991e-01 7.77433099e-01 -2.41845808e-03 3.33025614e+01] [ 3.76945944e-03 6.12245012e-05 9.99992894e-01 3.53884269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.160888479 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:86.73, Y:33.32, Z:0.35 [[ 7.77095087e-01 -6.29376567e-01 -2.89178851e-03 8.67312125e+01] [ 6.29371922e-01 7.77100466e-01 -2.41870461e-03 3.33210509e+01] [ 3.76948620e-03 5.95529738e-05 9.99992894e-01 3.51798310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.190888479 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:86.75, Y:33.34, Z:0.35 [[ 7.76697817e-01 -6.29866764e-01 -2.89150191e-03 8.67528473e+01] [ 6.29862122e-01 7.76703197e-01 -2.41904718e-03 3.33394320e+01] [ 3.76951620e-03 5.76211356e-05 9.99992894e-01 3.53093034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.220888479 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:86.77, Y:33.36, Z:0.35 [[ 7.76430945e-01 -6.30195709e-01 -2.89081937e-03 8.67741814e+01] [ 6.30191065e-01 7.76436324e-01 -2.41986257e-03 3.33571348e+01] [ 3.76952417e-03 5.70876396e-05 9.99992894e-01 3.51411855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250888479 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:86.80, Y:33.38, Z:0.35 [[ 7.75691004e-01 -6.31106259e-01 -2.89060810e-03 8.67962378e+01] [ 6.31101621e-01 7.75696388e-01 -2.42011491e-03 3.33765157e+01] [ 3.76958393e-03 5.29939035e-05 9.99992894e-01 3.49641450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280888479 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:86.82, Y:33.40, Z:0.35 [[ 7.75095187e-01 -6.31837874e-01 -2.89002724e-03 8.68179260e+01] [ 6.31833238e-01 7.75100573e-01 -2.42080836e-03 3.33959911e+01] [ 3.76962017e-03 5.03416394e-05 9.99992894e-01 3.48891741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310888479 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:86.84, Y:33.41, Z:0.35 [[ 7.74651924e-01 -6.32381252e-01 -2.88944633e-03 8.68392140e+01] [ 6.32376618e-01 7.74657311e-01 -2.42150152e-03 3.34147493e+01] [ 3.76964289e-03 4.86025098e-05 9.99992894e-01 3.49147708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340888479 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:86.86, Y:33.43, Z:0.35 [[ 7.73922742e-01 -6.33273434e-01 -2.88923246e-03 8.68615371e+01] [ 6.33268805e-01 7.73928133e-01 -2.42175667e-03 3.34335998e+01] [ 3.76969245e-03 4.45917740e-05 9.99992894e-01 3.49807463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370888479 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:86.88, Y:33.45, Z:0.35 [[ 7.72179648e-01 -6.35397707e-01 -2.88862578e-03 8.68846849e+01] [ 6.35393090e-01 7.72185051e-01 -2.42248010e-03 3.34514139e+01] [ 3.76979194e-03 3.51769712e-05 9.99992894e-01 3.52443651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400888479 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:86.91, Y:33.47, Z:0.35 [[ 7.71212734e-01 -6.36570953e-01 -2.88801960e-03 8.69061066e+01] [ 6.36566342e-01 7.71218141e-01 -2.42320255e-03 3.34688494e+01] [ 3.76983347e-03 3.03885901e-05 9.99992894e-01 3.53675194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430888479 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:86.93, Y:33.49, Z:0.35 [[ 7.70330071e-01 -6.37638802e-01 -2.88780538e-03 8.69275707e+01] [ 6.37634197e-01 7.70335484e-01 -2.42345782e-03 3.34863088e+01] [ 3.76986970e-03 2.54989668e-05 9.99992894e-01 3.54537051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460888479 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:86.95, Y:33.50, Z:0.35 [[ 7.69315887e-01 -6.38862059e-01 -2.88711865e-03 8.69489846e+01] [ 6.38857460e-01 7.69321304e-01 -2.42427566e-03 3.35037371e+01] [ 3.76989963e-03 2.05764964e-05 9.99992894e-01 3.53874322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49088847899999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:86.97, Y:33.52, Z:0.35 [[ 7.68895310e-01 -6.39368179e-01 -2.88683679e-03 8.69706949e+01] [ 6.39363582e-01 7.68900729e-01 -2.42461126e-03 3.35217522e+01] [ 3.76991020e-03 1.85339160e-05 9.99992894e-01 3.54204067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52088847899999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:86.99, Y:33.54, Z:0.35 [[ 7.68703062e-01 -6.39599306e-01 -2.88615200e-03 8.69924318e+01] [ 6.39594707e-01 7.68708480e-01 -2.42542613e-03 3.35394101e+01] [ 3.76991038e-03 1.84649505e-05 9.99992894e-01 3.53455637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.550888479 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:87.01, Y:33.56, Z:0.35 [[ 7.71568883e-01 -6.36139239e-01 -2.88583334e-03 8.70147251e+01] [ 6.36134615e-01 7.71574279e-01 -2.42580522e-03 3.35551754e+01] [ 3.76978466e-03 3.58973450e-05 9.99992894e-01 3.52813416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.580888479 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:87.04, Y:33.58, Z:0.35 [[ 7.68735762e-01 -6.39560056e-01 -2.87453184e-03 8.70360251e+01] [ 6.39555406e-01 7.68741135e-01 -2.43924150e-03 3.35763732e+01] [ 3.76981230e-03 3.67097965e-05 9.99992894e-01 3.52942044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610888479 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:87.06, Y:33.59, Z:0.35 [[ 7.69132782e-01 -6.39082500e-01 -2.88496334e-03 8.70570877e+01] [ 6.39077892e-01 7.69138192e-01 -2.42684082e-03 3.35942503e+01] [ 3.76988698e-03 2.28465408e-05 9.99992894e-01 3.52359089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640888479 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:87.08, Y:33.61, Z:0.35 [[ 7.69078714e-01 -6.39147567e-01 -2.88429151e-03 8.70787647e+01] [ 6.39142957e-01 7.69084122e-01 -2.42763902e-03 3.36121373e+01] [ 3.76988238e-03 2.35708943e-05 9.99992894e-01 3.53135166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670888479 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:87.10, Y:33.63, Z:0.35 [[ 7.69048363e-01 -6.39184088e-01 -2.88405161e-03 8.70997998e+01] [ 6.39179477e-01 7.69053770e-01 -2.42792400e-03 3.36289752e+01] [ 3.76988114e-03 2.37643776e-05 9.99992894e-01 3.53952995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700888479 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:87.12, Y:33.65, Z:0.36 [[ 7.69117623e-01 -6.39100747e-01 -2.88379203e-03 8.71218124e+01] [ 6.39096135e-01 7.69123029e-01 -2.42823227e-03 3.36455777e+01] [ 3.76987592e-03 2.45758901e-05 9.99992894e-01 3.55540212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730888479 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:87.14, Y:33.66, Z:0.35 [[ 7.69565886e-01 -6.38560907e-01 -2.88349229e-03 8.71430885e+01] [ 6.38556289e-01 7.69571288e-01 -2.42858816e-03 3.36627901e+01] [ 3.76985433e-03 2.76864648e-05 9.99992894e-01 3.54981692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760888479 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:87.16, Y:33.68, Z:0.35 [[ 7.70012145e-01 -6.38022714e-01 -2.88320453e-03 8.71633534e+01] [ 6.38018091e-01 7.70017542e-01 -2.42892974e-03 3.36802890e+01] [ 3.76983041e-03 3.07687461e-05 9.99992894e-01 3.53343917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790888479 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:87.18, Y:33.70, Z:0.35 [[ 7.70962500e-01 -6.36874016e-01 -2.88291341e-03 8.71840242e+01] [ 6.36869384e-01 7.70967890e-01 -2.42927521e-03 3.36986968e+01] [ 3.76977593e-03 3.68408064e-05 9.99992894e-01 3.52972515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820888479 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:87.20, Y:33.72, Z:0.35 [[ 7.73267787e-01 -6.34073042e-01 -2.88223405e-03 8.72049014e+01] [ 6.34068387e-01 7.73273157e-01 -2.43008098e-03 3.37177535e+01] [ 3.76960306e-03 5.15698405e-05 9.99992894e-01 3.52414848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85088847899999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:87.23, Y:33.73, Z:0.35 [[ 7.74164346e-01 -6.32978090e-01 -2.88155024e-03 8.72260438e+01] [ 6.32973425e-01 7.74169706e-01 -2.43089156e-03 3.37345848e+01] [ 3.76951000e-03 5.79648514e-05 9.99992894e-01 3.51993107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88088847899999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:87.25, Y:33.75, Z:0.35 [[ 7.75003132e-01 -6.31950824e-01 -2.88108581e-03 8.72487175e+01] [ 6.31946150e-01 7.75008485e-01 -2.43144188e-03 3.37515684e+01] [ 3.76941765e-03 6.36839883e-05 9.99992894e-01 3.52222058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.910888479 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:87.27, Y:33.77, Z:0.35 [[ 7.75446033e-01 -6.31407278e-01 -2.88076871e-03 8.72719640e+01] [ 6.31402599e-01 7.75451381e-01 -2.43181752e-03 3.37684333e+01] [ 3.76936336e-03 6.68183989e-05 9.99992894e-01 3.52890038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.940888479 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:87.30, Y:33.78, Z:0.35 [[ 7.75608066e-01 -6.31208232e-01 -2.88019333e-03 8.72954951e+01] [ 6.31203549e-01 7.75613411e-01 -2.43249880e-03 3.37843676e+01] [ 3.76932984e-03 6.86774369e-05 9.99992894e-01 3.53690176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.970888479 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:87.32, Y:33.80, Z:0.35 [[ 7.74690444e-01 -6.32334108e-01 -2.87953077e-03 8.73158625e+01] [ 6.32329429e-01 7.74695793e-01 -2.43328287e-03 3.38027981e+01] [ 3.76940812e-03 6.42289429e-05 9.99992894e-01 3.54460512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000888479 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:87.34, Y:33.82, Z:0.36 [[ 7.75814559e-01 -6.30954450e-01 -2.87269446e-03 8.73396033e+01] [ 6.30949732e-01 7.75819873e-01 -2.44136875e-03 3.38191678e+01] [ 3.76908593e-03 8.15236183e-05 9.99992894e-01 3.55519154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030888479 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:87.36, Y:33.84, Z:0.35 [[ 7.74714492e-01 -6.32304648e-01 -2.87888465e-03 8.73596094e+01] [ 6.32299966e-01 7.74719838e-01 -2.43404727e-03 3.38364859e+01] [ 3.76938845e-03 6.53730307e-05 9.99992894e-01 3.53948055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060888479 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:87.38, Y:33.85, Z:0.36 [[ 7.75764574e-01 -6.31015930e-01 -2.86722110e-03 8.73840045e+01] [ 6.31011189e-01 7.75769868e-01 -2.44783440e-03 3.38524994e+01] [ 3.76892623e-03 8.96946157e-05 9.99992894e-01 3.55932282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090888479 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:87.41, Y:33.87, Z:0.36 [[ 7.76162878e-01 -6.30525895e-01 -2.87796557e-03 8.74082498e+01] [ 6.30521197e-01 7.76168210e-01 -2.43513604e-03 3.38679916e+01] [ 3.76920172e-03 7.54438984e-05 9.99992894e-01 3.56624089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120888479 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:87.43, Y:33.88, Z:0.36 [[ 7.76650373e-01 -6.29925329e-01 -2.87729564e-03 8.74301748e+01] [ 6.29920624e-01 7.76655698e-01 -2.43592736e-03 3.38845069e+01] [ 3.76912040e-03 7.93960254e-05 9.99992894e-01 3.56150065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150888479 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:87.45, Y:33.90, Z:0.36 [[ 7.77605552e-01 -6.28745838e-01 -2.87700535e-03 8.74529780e+01] [ 6.28741124e-01 7.77610869e-01 -2.43627016e-03 3.39016434e+01] [ 3.76898536e-03 8.55656203e-05 9.99992894e-01 3.55021293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180888479 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:87.47, Y:33.92, Z:0.35 [[ 7.78158186e-01 -6.28061751e-01 -2.87634760e-03 8.74745884e+01] [ 6.28057030e-01 7.78163497e-01 -2.43704648e-03 3.39179873e+01] [ 3.76888439e-03 8.98973453e-05 9.99992894e-01 3.53720559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210888479 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:87.50, Y:33.93, Z:0.35 [[ 7.78516306e-01 -6.27617789e-01 -2.87606226e-03 8.74978309e+01] [ 6.27613063e-01 7.78521613e-01 -2.43738318e-03 3.39344249e+01] [ 3.76882167e-03 9.24883038e-05 9.99992894e-01 3.53863151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24088847899999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:87.52, Y:33.95, Z:0.35 [[ 7.78728174e-01 -6.27354894e-01 -2.87540788e-03 8.75211436e+01] [ 6.27350163e-01 7.78733477e-01 -2.43815491e-03 3.39501719e+01] [ 3.76876479e-03 9.47723132e-05 9.99992894e-01 3.54675515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27088847899999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:87.55, Y:33.96, Z:0.35 [[ 7.78877979e-01 -6.27168900e-01 -2.87474118e-03 8.75455698e+01] [ 6.27164166e-01 7.78883278e-01 -2.43894074e-03 3.39641240e+01] [ 3.76871562e-03 9.67025835e-05 9.99992894e-01 3.54849205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.300888479 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.57, Y:33.98, Z:0.35 [[ 7.78774607e-01 -6.27297259e-01 -2.87405969e-03 8.75674175e+01] [ 6.27292522e-01 7.78779905e-01 -2.43974354e-03 3.39801382e+01] [ 3.76870437e-03 9.71341632e-05 9.99992894e-01 3.54729609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.330888479 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.59, Y:34.00, Z:0.35 [[ 7.78782434e-01 -6.27287544e-01 -2.87359692e-03 8.75893507e+01] [ 6.27282805e-01 7.78787729e-01 -2.44028849e-03 3.39960242e+01] [ 3.76868459e-03 9.78958670e-05 9.99992894e-01 3.54396515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.61, Y:34.01, Z:0.36 [[ 7.78464658e-01 -6.27681862e-01 -2.87330424e-03 8.76121472e+01] [ 6.27677125e-01 7.78469955e-01 -2.44063305e-03 3.40126391e+01] [ 3.76872212e-03 9.64392279e-05 9.99992894e-01 3.55363903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.63, Y:34.03, Z:0.36 [[ 7.78200653e-01 -6.28009150e-01 -2.87261282e-03 8.76343858e+01] [ 6.28004411e-01 7.78205949e-01 -2.44144659e-03 3.40284493e+01] [ 3.76873518e-03 9.59218068e-05 9.99992894e-01 3.55006927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.66, Y:34.04, Z:0.36 [[ 7.77014848e-01 -6.29475715e-01 -2.87214354e-03 8.76598231e+01] [ 6.29470985e-01 7.77020152e-01 -2.44199852e-03 3.40417074e+01] [ 3.76889217e-03 8.95380929e-05 9.99992894e-01 3.56897500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.68, Y:34.06, Z:0.36 [[ 7.76022254e-01 -6.30698990e-01 -2.87144285e-03 8.76828542e+01] [ 6.30694265e-01 7.76027562e-01 -2.44282216e-03 3.40568748e+01] [ 3.76900426e-03 8.46818262e-05 9.99992894e-01 3.56620952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.71, Y:34.07, Z:0.36 [[ 7.73359461e-01 -6.33961277e-01 -2.87115454e-03 8.77090046e+01] [ 6.33956573e-01 7.73364788e-01 -2.44316097e-03 3.40700360e+01] [ 3.76931927e-03 6.92543602e-05 9.99992894e-01 3.60075917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:34.09, Z:0.36 [[ 7.71667682e-01 -6.36019456e-01 -2.87055560e-03 8.77321083e+01] [ 6.36014764e-01 7.71673019e-01 -2.44386449e-03 3.40855223e+01] [ 3.76947567e-03 6.01355052e-05 9.99992894e-01 3.60442467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:34.10, Z:0.36 [[ 7.70076278e-01 -6.37945364e-01 -2.87027751e-03 8.77558365e+01] [ 6.37940684e-01 7.70081625e-01 -2.44419105e-03 3.41016785e+01] [ 3.76960832e-03 5.11467426e-05 9.99992894e-01 3.61051088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:34.12, Z:0.36 [[ 7.68612848e-01 -6.39707789e-01 -2.86959416e-03 8.77782283e+01] [ 6.39703118e-01 7.68618204e-01 -2.44499308e-03 3.41177713e+01] [ 3.76970342e-03 4.35647662e-05 9.99992894e-01 3.60590103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:34.14, Z:0.36 [[ 7.68435872e-01 -6.39920369e-01 -2.86929820e-03 8.77999432e+01] [ 6.39915698e-01 7.68441227e-01 -2.44534035e-03 3.41363766e+01] [ 3.76971013e-03 4.29782817e-05 9.99992894e-01 3.60697721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:34.15, Z:0.36 [[ 7.66321235e-01 -6.42451193e-01 -2.86862158e-03 8.78230769e+01] [ 6.42446537e-01 7.66326604e-01 -2.44613383e-03 3.41516331e+01] [ 3.76982263e-03 3.15882978e-05 9.99992894e-01 3.60393350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:34.17, Z:0.36 [[ 7.65263303e-01 -6.43710998e-01 -2.86841221e-03 8.78456374e+01] [ 6.43706350e-01 7.65268678e-01 -2.44637932e-03 3.41684035e+01] [ 3.76986729e-03 2.57091669e-05 9.99992894e-01 3.60570227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:34.18, Z:0.36 [[ 7.64084902e-01 -6.45109323e-01 -2.86774270e-03 8.78696349e+01] [ 6.45104682e-01 7.64090283e-01 -2.44716389e-03 3.41822414e+01] [ 3.76990257e-03 1.98467387e-05 9.99992894e-01 3.61477916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:34.20, Z:0.36 [[ 7.63206248e-01 -6.46148590e-01 -2.86745273e-03 8.78921919e+01] [ 6.46143955e-01 7.63211634e-01 -2.44750362e-03 3.41984570e+01] [ 3.76992430e-03 1.51628043e-05 9.99992894e-01 3.61348237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:34.22, Z:0.36 [[ 7.62306685e-01 -6.47209626e-01 -2.86678679e-03 8.79147496e+01] [ 6.47204995e-01 7.62312075e-01 -2.44828339e-03 3.42156400e+01] [ 3.76993876e-03 1.09440673e-05 9.99992894e-01 3.60747287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:34.23, Z:0.36 [[ 7.60559762e-01 -6.49261606e-01 -2.86612048e-03 8.79365617e+01] [ 6.49256987e-01 7.60565163e-01 -2.44906317e-03 3.42315495e+01] [ 3.76995408e-03 1.81015972e-06 9.99992894e-01 3.59993641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:34.25, Z:0.36 [[ 7.59223412e-01 -6.50823784e-01 -2.86566786e-03 8.79580581e+01] [ 6.50819174e-01 7.59228820e-01 -2.44959266e-03 3.42489099e+01] [ 3.76995080e-03 -5.24349124e-06 9.99992894e-01 3.60403880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:34.27, Z:0.36 [[ 7.57722117e-01 -6.52571058e-01 -2.86500206e-03 8.79801198e+01] [ 6.52566458e-01 7.57727533e-01 -2.45037113e-03 3.42659528e+01] [ 3.76993222e-03 -1.29038469e-05 9.99992894e-01 3.60745438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:34.28, Z:0.36 [[ 7.56072303e-01 -6.54481832e-01 -2.86434182e-03 8.80030251e+01] [ 6.54477242e-01 7.56077728e-01 -2.45114267e-03 3.42827910e+01] [ 3.76989340e-03 -2.14054455e-05 9.99992894e-01 3.61289712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:34.30, Z:0.36 [[ 7.53023057e-01 -6.57987899e-01 -2.86367732e-03 8.80269910e+01] [ 6.57983331e-01 7.53028501e-01 -2.45191876e-03 3.42975994e+01] [ 3.76976351e-03 -3.79005764e-05 9.99992894e-01 3.61624620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:34.31, Z:0.36 [[ 7.51755116e-01 -6.59436160e-01 -2.86300317e-03 8.80480910e+01] [ 6.59431600e-01 7.51760567e-01 -2.45270569e-03 3.43144601e+01] [ 3.76969570e-03 -4.41207097e-05 9.99992894e-01 3.62150537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:34.33, Z:0.36 [[ 7.51058970e-01 -6.60228922e-01 -2.86262683e-03 8.80693855e+01] [ 6.60224366e-01 7.51064424e-01 -2.45314484e-03 3.43324292e+01] [ 3.76965435e-03 -4.75195427e-05 9.99992894e-01 3.62743585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:34.35, Z:0.36 [[ 7.51314290e-01 -6.59938366e-01 -2.86196312e-03 8.80903732e+01] [ 6.59933805e-01 7.51319739e-01 -2.45391892e-03 3.43512101e+01] [ 3.76968463e-03 -4.50418633e-05 9.99992894e-01 3.63908886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:34.37, Z:0.36 [[ 7.52111562e-01 -6.59029598e-01 -2.86129401e-03 8.81109169e+01] [ 6.59025027e-01 7.52117004e-01 -2.45469885e-03 3.43683465e+01] [ 3.76974708e-03 -3.94569751e-05 9.99992894e-01 3.64569582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:34.39, Z:0.36 [[ 7.53049965e-01 -6.57957116e-01 -2.86092395e-03 8.81321043e+01] [ 6.57952536e-01 7.53055398e-01 -2.45513008e-03 3.43862427e+01] [ 3.76980453e-03 -3.35165446e-05 9.99992894e-01 3.64454537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:34.41, Z:0.36 [[ 7.55361374e-01 -6.55302231e-01 -2.86026749e-03 8.81526845e+01] [ 6.55297629e-01 7.55366789e-01 -2.45589463e-03 3.44051494e+01] [ 3.76990430e-03 -1.92385637e-05 9.99992894e-01 3.62962093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:34.42, Z:0.36 [[ 7.56622654e-01 -6.53845534e-01 -2.85958722e-03 8.81723572e+01] [ 6.53840919e-01 7.56628058e-01 -2.45668647e-03 3.44230962e+01] [ 3.76993740e-03 -1.09304982e-05 9.99992894e-01 3.61443138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:34.44, Z:0.36 [[ 7.58097424e-01 -6.52135047e-01 -2.85929269e-03 8.81934641e+01] [ 6.52130419e-01 7.58102816e-01 -2.45702922e-03 3.44421968e+01] [ 3.76995271e-03 -1.96421948e-06 9.99992894e-01 3.60180077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:34.46, Z:0.36 [[ 7.60783063e-01 -6.48999969e-01 -2.85862487e-03 8.82139782e+01] [ 6.48995315e-01 7.60788433e-01 -2.45780595e-03 3.44613629e+01] [ 3.76992472e-03 1.46229899e-05 9.99992894e-01 3.60805382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:88.23, Y:34.48, Z:0.36 [[ 7.61558021e-01 -6.48090436e-01 -2.85793105e-03 8.82340264e+01] [ 6.48085772e-01 7.61563383e-01 -2.45861245e-03 3.44795386e+01] [ 3.76989886e-03 2.01915822e-05 9.99992894e-01 3.61777610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:34.50, Z:0.36 [[ 7.62374501e-01 -6.47129782e-01 -2.85763171e-03 8.82548081e+01] [ 6.47125111e-01 7.62379856e-01 -2.45896032e-03 3.44982956e+01] [ 3.76986731e-03 2.54034091e-05 9.99992894e-01 3.62896528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:34.52, Z:0.36 [[ 7.62874189e-01 -6.46540649e-01 -2.85695010e-03 8.82746698e+01] [ 6.46535970e-01 7.62879538e-01 -2.45975201e-03 3.45168467e+01] [ 3.76983843e-03 2.93603130e-05 9.99992894e-01 3.63092911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:34.54, Z:0.36 [[ 7.63702868e-01 -6.45561592e-01 -2.85665467e-03 8.82941152e+01] [ 6.45556905e-01 7.63708210e-01 -2.46009506e-03 3.45369321e+01] [ 3.76979350e-03 3.46485046e-05 9.99992894e-01 3.61771585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.31, Y:34.55, Z:0.36 [[ 7.63914785e-01 -6.45310812e-01 -2.85598141e-03 8.83141780e+01] [ 6.45306121e-01 7.63920123e-01 -2.46087641e-03 3.45547452e+01] [ 3.76977182e-03 3.69175877e-05 9.99992894e-01 3.61680900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:34.57, Z:0.36 [[ 7.63829311e-01 -6.45411984e-01 -2.85568932e-03 8.83362650e+01] [ 6.45407292e-01 7.63834648e-01 -2.46121531e-03 3.45729062e+01] [ 3.76977230e-03 3.68656877e-05 9.99992894e-01 3.62424450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:34.59, Z:0.36 [[ 7.63033364e-01 -6.46352794e-01 -2.85500937e-03 8.83582647e+01] [ 6.46348106e-01 7.63038704e-01 -2.46200380e-03 3.45901599e+01] [ 3.76980569e-03 3.32611399e-05 9.99992894e-01 3.64136718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:34.61, Z:0.36 [[ 7.62260443e-01 -6.47264142e-01 -2.85433294e-03 8.83792758e+01] [ 6.47259457e-01 7.62265787e-01 -2.46278777e-03 3.46089439e+01] [ 3.76983456e-03 2.97917097e-05 9.99992894e-01 3.64405973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:34.63, Z:0.36 [[ 7.61750427e-01 -6.47864294e-01 -2.85365653e-03 8.83997359e+01] [ 6.47859611e-01 7.61755771e-01 -2.46357129e-03 3.46273422e+01] [ 3.76984921e-03 2.78576703e-05 9.99992894e-01 3.64114750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:34.64, Z:0.36 [[ 7.61521293e-01 -6.48133612e-01 -2.85336336e-03 8.84202389e+01] [ 6.48128929e-01 7.61526638e-01 -2.46391080e-03 3.46448411e+01] [ 3.76985561e-03 2.69731957e-05 9.99992894e-01 3.63549914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:88.44, Y:34.66, Z:0.36 [[ 7.61825993e-01 -6.47775437e-01 -2.85299512e-03 8.84418980e+01] [ 6.47770750e-01 7.61831335e-01 -2.46433711e-03 3.46633184e+01] [ 3.76983813e-03 2.93092773e-05 9.99992894e-01 3.63861708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530888479 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:88.46, Y:34.68, Z:0.36 [[ 7.62235620e-01 -6.47293387e-01 -2.85140971e-03 8.84635842e+01] [ 6.47288690e-01 7.62240953e-01 -2.46617190e-03 3.46817178e+01] [ 3.76979802e-03 3.41188126e-05 9.99992894e-01 3.63921260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:34.70, Z:0.36 [[ 7.62690413e-01 -6.46757447e-01 -2.85283547e-03 8.84846829e+01] [ 6.46752752e-01 7.62695748e-01 -2.46452232e-03 3.47000560e+01] [ 3.76979365e-03 3.45883500e-05 9.99992894e-01 3.63610680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:34.72, Z:0.36 [[ 7.62663646e-01 -6.46789016e-01 -2.85154411e-03 8.85055799e+01] [ 6.46784316e-01 7.62668976e-01 -2.46601557e-03 3.47185588e+01] [ 3.76977601e-03 3.64064193e-05 9.99992894e-01 3.63684624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:34.74, Z:0.36 [[ 7.62868292e-01 -6.46547632e-01 -2.85086891e-03 8.85258363e+01] [ 6.46542928e-01 7.62873618e-01 -2.46679590e-03 3.47368560e+01] [ 3.76975373e-03 3.86312436e-05 9.99992894e-01 3.63252128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:34.76, Z:0.36 [[ 7.63342998e-01 -6.45987106e-01 -2.85049784e-03 8.85463007e+01] [ 6.45982396e-01 7.63348319e-01 -2.46722461e-03 3.47558691e+01] [ 3.76971802e-03 4.19672070e-05 9.99992894e-01 3.61746928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:34.77, Z:0.36 [[ 7.63424285e-01 -6.45891043e-01 -2.84982215e-03 8.85665232e+01] [ 6.45886330e-01 7.63429603e-01 -2.46800484e-03 3.47734935e+01] [ 3.76970081e-03 4.34736628e-05 9.99992894e-01 3.61344848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:34.79, Z:0.36 [[ 7.63472050e-01 -6.45834584e-01 -2.84936228e-03 8.85881992e+01] [ 6.45829868e-01 7.63477366e-01 -2.46853565e-03 3.47917098e+01] [ 3.76968930e-03 4.44547143e-05 9.99992894e-01 3.62758181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:34.81, Z:0.37 [[ 7.63565952e-01 -6.45723565e-01 -2.84868014e-03 8.86096370e+01] [ 6.45718845e-01 7.63571264e-01 -2.46932258e-03 3.48084531e+01] [ 3.76967008e-03 4.60441942e-05 9.99992894e-01 3.66719815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:34.83, Z:0.37 [[ 7.63369525e-01 -6.45955768e-01 -2.84838449e-03 8.86303069e+01] [ 6.45951049e-01 7.63374838e-01 -2.46966357e-03 3.48257293e+01] [ 3.76967848e-03 4.53489638e-05 9.99992894e-01 3.68061722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:34.84, Z:0.37 [[ 7.62816048e-01 -6.46609284e-01 -2.84792913e-03 8.86510335e+01] [ 6.46604567e-01 7.62821363e-01 -2.47018856e-03 3.48441210e+01] [ 3.76970804e-03 4.28154948e-05 9.99992894e-01 3.68604836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:34.86, Z:0.37 [[ 7.62736971e-01 -6.46702564e-01 -2.84724638e-03 8.86702224e+01] [ 6.46697844e-01 7.62742284e-01 -2.47097529e-03 3.48625877e+01] [ 3.76970126e-03 4.33961120e-05 9.99992894e-01 3.67340433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:34.88, Z:0.36 [[ 7.60056329e-01 -6.49850961e-01 -2.84694999e-03 8.86829542e+01] [ 6.49846262e-01 7.60061661e-01 -2.47131672e-03 3.48803728e+01] [ 3.76984508e-03 2.82601101e-05 9.99992894e-01 3.63859113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:34.90, Z:0.37 [[ 7.61383709e-01 -6.48295448e-01 -2.80359415e-03 8.87090577e+01] [ 6.48290554e-01 7.61388863e-01 -2.52123258e-03 3.48988747e+01] [ 3.76912897e-03 1.02081805e-04 9.99992892e-01 3.65366319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:34.92, Z:0.36 [[ 7.58646785e-01 -6.51496036e-01 -2.82329545e-03 8.87256869e+01] [ 6.51491248e-01 7.58652036e-01 -2.49853651e-03 3.49159497e+01] [ 3.76968547e-03 5.61544161e-05 9.99992893e-01 3.64763029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:34.93, Z:0.37 [[ 7.61709829e-01 -6.47912310e-01 -2.78856036e-03 8.87580828e+01] [ 6.47907349e-01 7.61714922e-01 -2.53850420e-03 3.49342210e+01] [ 3.76881616e-03 1.26874847e-04 9.99992890e-01 3.68970485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:34.95, Z:0.37 [[ 7.60753653e-01 -6.49034493e-01 -2.84718996e-03 8.87789510e+01] [ 6.49029790e-01 7.60758980e-01 -2.47094729e-03 3.49531131e+01] [ 3.76975536e-03 3.18710742e-05 9.99992894e-01 3.68829109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:34.97, Z:0.37 [[ 7.59902909e-01 -6.50030358e-01 -2.84650138e-03 8.87976428e+01] [ 6.50025659e-01 7.59908240e-01 -2.47174028e-03 3.49726953e+01] [ 3.76978607e-03 2.79836906e-05 9.99992894e-01 3.67631103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:88.82, Y:34.99, Z:0.37 [[ 7.59464312e-01 -6.50542741e-01 -2.84620295e-03 8.88181950e+01] [ 6.50538045e-01 7.59469645e-01 -2.47208387e-03 3.49914115e+01] [ 3.76980096e-03 2.58961787e-05 9.99992894e-01 3.68453790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:35.01, Z:0.37 [[ 7.59240917e-01 -6.50803452e-01 -2.84551819e-03 8.88388254e+01] [ 6.50798755e-01 7.59246249e-01 -2.47287182e-03 3.50088522e+01] [ 3.76980253e-03 2.56457689e-05 9.99992894e-01 3.69736712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:35.03, Z:0.37 [[ 7.58754600e-01 -6.51370372e-01 -2.84522122e-03 8.88603504e+01] [ 6.51365677e-01 7.58759934e-01 -2.47321346e-03 3.50271068e+01] [ 3.76981784e-03 2.32826474e-05 9.99992894e-01 3.70889608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:35.05, Z:0.37 [[ 7.57630884e-01 -6.52677066e-01 -2.84453992e-03 8.88819514e+01] [ 6.52672377e-01 7.57636223e-01 -2.47399680e-03 3.50452497e+01] [ 3.76984746e-03 1.78237506e-05 9.99992894e-01 3.71710968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:35.06, Z:0.37 [[ 7.57036370e-01 -6.53366548e-01 -2.84385865e-03 8.89026648e+01] [ 6.53361862e-01 7.57041712e-01 -2.47477968e-03 3.50636548e+01] [ 3.76985787e-03 1.54294457e-05 9.99992894e-01 3.71294883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:35.08, Z:0.37 [[ 7.56615752e-01 -6.53853593e-01 -2.84317911e-03 8.89216756e+01] [ 6.53848906e-01 7.56621094e-01 -2.47556013e-03 3.50836591e+01] [ 3.76986317e-03 1.40382370e-05 9.99992894e-01 3.68940009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:35.10, Z:0.37 [[ 7.56717348e-01 -6.53736013e-01 -2.84271783e-03 8.89420954e+01] [ 6.53731324e-01 7.56722687e-01 -2.47608970e-03 3.51030158e+01] [ 3.76985809e-03 1.53263445e-05 9.99992894e-01 3.67374187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:35.12, Z:0.37 [[ 7.57063432e-01 -6.53335200e-01 -2.84203810e-03 8.89622327e+01] [ 6.53330505e-01 7.57068766e-01 -2.47686965e-03 3.51211744e+01] [ 3.76984440e-03 1.83572548e-05 9.99992894e-01 3.65885346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:35.14, Z:0.37 [[ 7.57609829e-01 -6.52701518e-01 -2.84168944e-03 8.89840569e+01] [ 6.52696818e-01 7.57615158e-01 -2.47726960e-03 3.51391119e+01] [ 3.76982462e-03 2.20421400e-05 9.99992894e-01 3.66633940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:35.16, Z:0.37 [[ 7.57507227e-01 -6.52820596e-01 -2.84101132e-03 8.90050774e+01] [ 6.52815893e-01 7.57512554e-01 -2.47804704e-03 3.51574837e+01] [ 3.76982189e-03 2.24811966e-05 9.99992894e-01 3.67163736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:35.18, Z:0.37 [[ 7.57305038e-01 -6.53055137e-01 -2.84033516e-03 8.90255457e+01] [ 6.53050433e-01 7.57310364e-01 -2.47882182e-03 3.51760842e+01] [ 3.76982257e-03 2.23421466e-05 9.99992894e-01 3.67428645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:35.19, Z:0.37 [[ 7.57468182e-01 -6.52865905e-01 -2.83963066e-03 8.90447605e+01] [ 6.52861196e-01 7.57473504e-01 -2.47962859e-03 3.51947099e+01] [ 3.76980996e-03 2.43550904e-05 9.99992894e-01 3.65503469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.07, Y:35.21, Z:0.37 [[ 7.57891963e-01 -6.52373904e-01 -2.83932527e-03 8.90659028e+01] [ 6.52369191e-01 7.57897281e-01 -2.47997824e-03 3.52130551e+01] [ 3.76978999e-03 2.72672446e-05 9.99992894e-01 3.65388109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:35.23, Z:0.37 [[ 7.58335944e-01 -6.51857759e-01 -2.83864681e-03 8.90867091e+01] [ 6.51853040e-01 7.58341256e-01 -2.48075458e-03 3.52309520e+01] [ 3.76976211e-03 3.08648102e-05 9.99992894e-01 3.66327638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:35.25, Z:0.37 [[ 7.58959922e-01 -6.51131155e-01 -2.83825705e-03 8.91067975e+01] [ 6.51126428e-01 7.58965228e-01 -2.48120043e-03 3.52487560e+01] [ 3.76972531e-03 3.50675075e-05 9.99992894e-01 3.67438515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:35.27, Z:0.37 [[ 7.58784690e-01 -6.51335352e-01 -2.83787459e-03 8.91282678e+01] [ 6.51330625e-01 7.58789996e-01 -2.48163779e-03 3.52676450e+01] [ 3.76972927e-03 3.46341311e-05 9.99992894e-01 3.67546075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:35.29, Z:0.37 [[ 7.60292972e-01 -6.49574127e-01 -2.83720663e-03 8.91487294e+01] [ 6.49569385e-01 7.60298265e-01 -2.48240122e-03 3.52866334e+01] [ 3.76962688e-03 4.43896430e-05 9.99992894e-01 3.68192814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:35.31, Z:0.37 [[ 7.61094445e-01 -6.48634874e-01 -2.83651992e-03 8.91692992e+01] [ 6.48630123e-01 7.61099729e-01 -2.48318564e-03 3.53057678e+01] [ 3.76955535e-03 5.00865297e-05 9.99992894e-01 3.67413750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:35.33, Z:0.37 [[ 7.61729775e-01 -6.47888654e-01 -2.83583267e-03 8.91900373e+01] [ 6.47883895e-01 7.61735051e-01 -2.48397024e-03 3.53251842e+01] [ 3.76948928e-03 5.48237757e-05 9.99992894e-01 3.66865316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:35.34, Z:0.37 [[ 7.63135734e-01 -6.46232012e-01 -2.83514005e-03 8.92111428e+01] [ 6.46227238e-01 7.63140998e-01 -2.48476054e-03 3.53442063e+01] [ 3.76934340e-03 6.40648330e-05 9.99992894e-01 3.67760310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:35.36, Z:0.37 [[ 7.63611714e-01 -6.45669510e-01 -2.83445195e-03 8.92327073e+01] [ 6.45664730e-01 7.63616971e-01 -2.48554522e-03 3.53622251e+01] [ 3.76927638e-03 6.78857972e-05 9.99992894e-01 3.68893939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:35.38, Z:0.37 [[ 7.63667584e-01 -6.45603432e-01 -2.83375905e-03 8.92542712e+01] [ 6.45598648e-01 7.63672839e-01 -2.48633494e-03 3.53804627e+01] [ 3.76925119e-03 6.92623840e-05 9.99992894e-01 3.69076730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:35.40, Z:0.36 [[ 7.64016106e-01 -6.45190951e-01 -2.83306078e-03 8.92750308e+01] [ 6.45186162e-01 7.64021355e-01 -2.48713033e-03 3.53992290e+01] [ 3.76919292e-03 7.23560227e-05 9.99992894e-01 3.64131601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:35.42, Z:0.36 [[ 7.63976675e-01 -6.45237643e-01 -2.83284517e-03 8.92965532e+01] [ 6.45232852e-01 7.63981923e-01 -2.48737589e-03 3.54192924e+01] [ 3.76919106e-03 7.24523973e-05 9.99992894e-01 3.62910739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:35.44, Z:0.36 [[ 7.64057075e-01 -6.45142438e-01 -2.83228564e-03 8.93175068e+01] [ 6.45137644e-01 7.64062320e-01 -2.48801284e-03 3.54382633e+01] [ 3.76916541e-03 7.37697223e-05 9.99992894e-01 3.60509321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:35.46, Z:0.36 [[ 7.63398364e-01 -6.45921758e-01 -2.83196394e-03 8.93394849e+01] [ 6.45916969e-01 7.63403614e-01 -2.48837897e-03 3.54559641e+01] [ 3.76922962e-03 7.04108712e-05 9.99992894e-01 3.61226644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:35.47, Z:0.36 [[ 7.62327578e-01 -6.47185173e-01 -2.83127467e-03 8.93604726e+01] [ 6.47180389e-01 7.62332833e-01 -2.48916296e-03 3.54727074e+01] [ 3.76932300e-03 6.52121293e-05 9.99992894e-01 3.61534284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:35.49, Z:0.36 [[ 7.61116015e-01 -6.48609587e-01 -2.83097625e-03 8.93829110e+01] [ 6.48604812e-01 7.61121278e-01 -2.48950232e-03 3.54903613e+01] [ 3.76943133e-03 5.86152639e-05 9.99992894e-01 3.62631773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:35.51, Z:0.37 [[ 7.58627252e-01 -6.51518750e-01 -2.83029210e-03 8.94057586e+01] [ 6.51513992e-01 7.58632530e-01 -2.49027988e-03 3.55080962e+01] [ 3.76961569e-03 4.52192698e-05 9.99992894e-01 3.65508447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:35.53, Z:0.37 [[ 7.57700732e-01 -6.52596042e-01 -2.82967778e-03 8.94268122e+01] [ 6.52591289e-01 7.57706015e-01 -2.49097773e-03 3.55258801e+01] [ 3.76966608e-03 4.07925815e-05 9.99992894e-01 3.66013838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:35.54, Z:0.37 [[ 7.57000094e-01 -6.53408640e-01 -2.82946030e-03 8.94483220e+01] [ 6.53403892e-01 7.57005381e-01 -2.49122474e-03 3.55437976e+01] [ 3.76970444e-03 3.70769859e-05 9.99992894e-01 3.67096850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:35.56, Z:0.37 [[ 7.56638373e-01 -6.53827476e-01 -2.82924698e-03 8.94697089e+01] [ 6.53822730e-01 7.56643662e-01 -2.49146697e-03 3.55612112e+01] [ 3.76972136e-03 3.53135308e-05 9.99992894e-01 3.67437177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:35.58, Z:0.37 [[ 7.56254624e-01 -6.54271305e-01 -2.82894802e-03 8.94920091e+01] [ 6.54266561e-01 7.56259915e-01 -2.49180638e-03 3.55779097e+01] [ 3.76973740e-03 3.35540055e-05 9.99992894e-01 3.68802773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:35.60, Z:0.37 [[ 7.56266587e-01 -6.54257480e-01 -2.82826487e-03 8.95129806e+01] [ 6.54252733e-01 7.56271875e-01 -2.49258154e-03 3.55951679e+01] [ 3.76972729e-03 3.46561075e-05 9.99992894e-01 3.68447169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:89.53, Y:35.61, Z:0.37 [[ 7.56205338e-01 -6.54328273e-01 -2.82789854e-03 8.95343102e+01] [ 6.54323525e-01 7.56210625e-01 -2.49299708e-03 3.56128534e+01] [ 3.76972540e-03 3.48571610e-05 9.99992894e-01 3.68764230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:35.63, Z:0.37 [[ 7.56156991e-01 -6.54384147e-01 -2.82719950e-03 8.95566469e+01] [ 6.54379397e-01 7.56162275e-01 -2.49378957e-03 3.56297589e+01] [ 3.76971797e-03 3.56353150e-05 9.99992894e-01 3.66910970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:35.65, Z:0.37 [[ 7.56014156e-01 -6.54549161e-01 -2.82687562e-03 8.95790157e+01] [ 6.54544410e-01 7.56019441e-01 -2.49415667e-03 3.56479952e+01] [ 3.76972108e-03 3.53021136e-05 9.99992894e-01 3.65868861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:35.67, Z:0.36 [[ 7.56343958e-01 -6.54168044e-01 -2.82628646e-03 8.96004702e+01] [ 6.54163288e-01 7.56349237e-01 -2.49482411e-03 3.56658688e+01] [ 3.76969381e-03 3.80922990e-05 9.99992894e-01 3.63935865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:35.68, Z:0.36 [[ 7.56561828e-01 -6.53916062e-01 -2.82560264e-03 8.96216862e+01] [ 6.53911302e-01 7.56567103e-01 -2.49559834e-03 3.56848631e+01] [ 3.76966985e-03 4.03809444e-05 9.99992894e-01 3.64266310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:35.70, Z:0.36 [[ 7.56800751e-01 -6.53639536e-01 -2.82490602e-03 8.96433234e+01] [ 6.53634770e-01 7.56806022e-01 -2.49638664e-03 3.57036689e+01] [ 3.76964289e-03 4.28104916e-05 9.99992894e-01 3.64862731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:35.72, Z:0.37 [[ 7.56477105e-01 -6.54014077e-01 -2.82429417e-03 8.96656803e+01] [ 6.54009311e-01 7.56482376e-01 -2.49707867e-03 3.57199209e+01] [ 3.76965336e-03 4.18681603e-05 9.99992894e-01 3.67767662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:35.74, Z:0.37 [[ 7.55555175e-01 -6.55078929e-01 -2.82398585e-03 8.96878637e+01] [ 6.55074169e-01 7.55560451e-01 -2.49742731e-03 3.57378278e+01] [ 3.76970402e-03 3.70239412e-05 9.99992894e-01 3.68989603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:35.75, Z:0.37 [[ 7.54681313e-01 -6.56085471e-01 -2.82330026e-03 8.97090437e+01] [ 6.56080716e-01 7.54686593e-01 -2.49820211e-03 3.57549270e+01] [ 3.76974096e-03 3.30335957e-05 9.99992894e-01 3.69467947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:35.77, Z:0.37 [[ 7.52973492e-01 -6.58044795e-01 -2.82283366e-03 8.97303074e+01] [ 6.58040051e-01 7.52978783e-01 -2.49872923e-03 3.57721306e+01] [ 3.76980962e-03 2.39392609e-05 9.99992894e-01 3.68223164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:35.79, Z:0.37 [[ 7.52065971e-01 -6.59081793e-01 -2.82237614e-03 8.97512539e+01] [ 6.59077054e-01 7.52071267e-01 -2.49924590e-03 3.57904103e+01] [ 3.76983547e-03 1.94344374e-05 9.99992894e-01 3.68535923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:35.81, Z:0.37 [[ 7.50760916e-01 -6.60568002e-01 -2.82170226e-03 8.97725520e+01] [ 6.60563271e-01 7.50766219e-01 -2.50000650e-03 3.58090520e+01] [ 3.76986303e-03 1.29942917e-05 9.99992894e-01 3.67525735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:35.83, Z:0.37 [[ 7.49885269e-01 -6.61561883e-01 -2.82103194e-03 8.97940518e+01] [ 6.61557156e-01 7.49890575e-01 -2.50076266e-03 3.58275336e+01] [ 3.76987452e-03 9.01121343e-06 9.99992894e-01 3.68217538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:35.85, Z:0.37 [[ 7.48966237e-01 -6.62602159e-01 -2.82033430e-03 8.98153963e+01] [ 6.62597437e-01 7.48971547e-01 -2.50154921e-03 3.58460830e+01] [ 3.76988205e-03 4.82962456e-06 9.99992894e-01 3.68025472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:35.86, Z:0.37 [[ 7.47873884e-01 -6.63834846e-01 -2.81964105e-03 8.98373644e+01] [ 6.63830130e-01 7.47879199e-01 -2.50233037e-03 3.58637397e+01] [ 3.76988498e-03 -3.35152438e-07 9.99992894e-01 3.68492666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:35.88, Z:0.37 [[ 7.47487464e-01 -6.64269932e-01 -2.81926291e-03 8.98586599e+01] [ 6.64265218e-01 7.47492780e-01 -2.50275633e-03 3.58816937e+01] [ 3.76988445e-03 -1.95931089e-06 9.99992894e-01 3.70144157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:35.90, Z:0.37 [[ 7.47306436e-01 -6.64473586e-01 -2.81857912e-03 8.98802484e+01] [ 6.64468870e-01 7.47311751e-01 -2.50352617e-03 3.58998180e+01] [ 3.76988431e-03 -1.95685907e-06 9.99992894e-01 3.71452796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:35.92, Z:0.37 [[ 7.48120199e-01 -6.63557252e-01 -2.81789705e-03 8.99020405e+01] [ 6.63552527e-01 7.48125506e-01 -2.50429365e-03 3.59187782e+01] [ 3.76988287e-03 3.68995346e-06 9.99992894e-01 3.70843308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:35.94, Z:0.37 [[ 7.48760428e-01 -6.62834734e-01 -2.81726298e-03 8.99214306e+01] [ 6.62830000e-01 7.48765728e-01 -2.50500676e-03 3.59371227e+01] [ 3.76987546e-03 8.28351282e-06 9.99992894e-01 3.69305675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:35.96, Z:0.37 [[ 7.49384674e-01 -6.62128896e-01 -2.81692649e-03 8.99406744e+01] [ 6.62124156e-01 7.49389968e-01 -2.50538510e-03 3.59560021e+01] [ 3.76986432e-03 1.23421211e-05 9.99992894e-01 3.67910817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:35.98, Z:0.37 [[ 7.49894249e-01 -6.61551723e-01 -2.81655654e-03 8.99613547e+01] [ 6.61546978e-01 7.49899538e-01 -2.50580092e-03 3.59757699e+01] [ 3.76985137e-03 1.58012310e-05 9.99992894e-01 3.68963728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:35.99, Z:0.37 [[ 7.50436237e-01 -6.60936854e-01 -2.81587135e-03 8.99823923e+01] [ 6.60932101e-01 7.50441520e-01 -2.50657066e-03 3.59946488e+01] [ 3.76983170e-03 1.99216873e-05 9.99992894e-01 3.68374866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:36.01, Z:0.37 [[ 7.49987850e-01 -6.61445614e-01 -2.81519095e-03 9.00038509e+01] [ 6.61440862e-01 7.49993133e-01 -2.50733460e-03 3.60127868e+01] [ 3.76983936e-03 1.83881585e-05 9.99992894e-01 3.68846525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:36.03, Z:0.37 [[ 7.49052532e-01 -6.62504629e-01 -2.81450100e-03 9.00245806e+01] [ 6.62499881e-01 7.49057819e-01 -2.50810884e-03 3.60306864e+01] [ 3.76985769e-03 1.40986952e-05 9.99992894e-01 3.71059628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:36.05, Z:0.37 [[ 7.48616078e-01 -6.62997774e-01 -2.81424517e-03 9.00457057e+01] [ 6.62993029e-01 7.48621367e-01 -2.50839586e-03 3.60502219e+01] [ 3.76986494e-03 1.20005373e-05 9.99992894e-01 3.72882464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:36.07, Z:0.37 [[ 7.48290138e-01 -6.63365625e-01 -2.81364834e-03 9.00667355e+01] [ 6.63360880e-01 7.48295428e-01 -2.50906514e-03 3.60695705e+01] [ 3.76986775e-03 1.10444542e-05 9.99992894e-01 3.74192318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:36.09, Z:0.37 [[ 7.48501062e-01 -6.63127625e-01 -2.81297007e-03 9.00856823e+01] [ 6.63122876e-01 7.48506348e-01 -2.50982534e-03 3.60889098e+01] [ 3.76986047e-03 1.32621293e-05 9.99992894e-01 3.74024694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:36.11, Z:0.37 [[ 7.48646453e-01 -6.62963482e-01 -2.81260825e-03 9.01047500e+01] [ 6.62958729e-01 7.48651736e-01 -2.51023074e-03 3.61075790e+01] [ 3.76985536e-03 1.46321496e-05 9.99992894e-01 3.72054764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:36.13, Z:0.37 [[ 7.48763975e-01 -6.62830749e-01 -2.81226474e-03 9.01248931e+01] [ 6.62825994e-01 7.48769256e-01 -2.51061552e-03 3.61265705e+01] [ 3.76985054e-03 1.58162859e-05 9.99992894e-01 3.72061278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:36.15, Z:0.37 [[ 7.48867890e-01 -6.62713345e-01 -2.81158107e-03 9.01467846e+01] [ 6.62708587e-01 7.48873168e-01 -2.51138091e-03 3.61461885e+01] [ 3.76984327e-03 1.74336048e-05 9.99992894e-01 3.71072540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:36.17, Z:0.37 [[ 7.48521004e-01 -6.63105123e-01 -2.81102313e-03 9.01676878e+01] [ 6.63100365e-01 7.48526283e-01 -2.51200526e-03 3.61650318e+01] [ 3.76984826e-03 1.62982372e-05 9.99992894e-01 3.68492461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:36.18, Z:0.37 [[ 7.47836163e-01 -6.63877377e-01 -2.81081063e-03 9.01881327e+01] [ 6.63872624e-01 7.47841446e-01 -2.51224303e-03 3.61843939e+01] [ 3.76986199e-03 1.27259621e-05 9.99992894e-01 3.67937743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:36.20, Z:0.37 [[ 7.46188806e-01 -6.65728449e-01 -2.81013006e-03 9.02086516e+01] [ 6.65723706e-01 7.46194098e-01 -2.51300407e-03 3.62042040e+01] [ 3.76988076e-03 4.40530745e-06 9.99992894e-01 3.68404171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:36.22, Z:0.37 [[ 7.45058901e-01 -6.66992759e-01 -2.80953708e-03 9.02299711e+01] [ 6.66988022e-01 7.45064198e-01 -2.51366684e-03 3.62233042e+01] [ 3.76988307e-03 -1.09772954e-06 9.99992894e-01 3.70930961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:36.24, Z:0.37 [[ 7.44105629e-01 -6.68056077e-01 -2.80892725e-03 9.02507038e+01] [ 6.68051346e-01 7.44110931e-01 -2.51434811e-03 3.62415000e+01] [ 3.76987901e-03 -5.56704607e-06 9.99992894e-01 3.73238415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:36.26, Z:0.37 [[ 7.43237815e-01 -6.69021421e-01 -2.80871128e-03 9.02712919e+01] [ 6.69016695e-01 7.43243122e-01 -2.51458934e-03 3.62599456e+01] [ 3.76986948e-03 -1.01368497e-05 9.99992894e-01 3.74840581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:36.28, Z:0.38 [[ 7.42443077e-01 -6.69903269e-01 -2.80841105e-03 9.02915535e+01] [ 6.69898549e-01 7.42448388e-01 -2.51492461e-03 3.62790848e+01] [ 3.76985648e-03 -1.41621258e-05 9.99992894e-01 3.75234818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:36.30, Z:0.37 [[ 7.42258783e-01 -6.70107465e-01 -2.80773578e-03 9.03114307e+01] [ 6.70102743e-01 7.42264094e-01 -2.51567828e-03 3.62983388e+01] [ 3.76985625e-03 -1.41871475e-05 9.99992894e-01 3.74776559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:36.32, Z:0.37 [[ 7.42401321e-01 -6.69949550e-01 -2.80703227e-03 9.03309819e+01] [ 6.69944824e-01 7.42406627e-01 -2.51646302e-03 3.63181385e+01] [ 3.76986263e-03 -1.23312707e-05 9.99992894e-01 3.73439868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:36.34, Z:0.37 [[ 7.42732331e-01 -6.69582562e-01 -2.80666308e-03 9.03504905e+01] [ 6.69577832e-01 7.42737634e-01 -2.51687472e-03 3.63396233e+01] [ 3.76986972e-03 -9.91515383e-06 9.99992894e-01 3.70683928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.37, Y:36.36, Z:0.37 [[ 7.42907079e-01 -6.69388675e-01 -2.80606604e-03 9.03710930e+01] [ 6.69383941e-01 7.42912378e-01 -2.51754018e-03 3.63584004e+01] [ 3.76987408e-03 -8.03712420e-06 9.99992894e-01 3.71013775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:36.38, Z:0.37 [[ 7.43266001e-01 -6.68990120e-01 -2.80536541e-03 9.03919164e+01] [ 6.68985381e-01 7.43271296e-01 -2.51832067e-03 3.63774577e+01] [ 3.76987923e-03 -4.96631693e-06 9.99992894e-01 3.70803961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:36.40, Z:0.37 [[ 7.43574994e-01 -6.68646662e-01 -2.80514855e-03 9.04119839e+01] [ 6.68641919e-01 7.43580286e-01 -2.51856220e-03 3.63967008e+01] [ 3.76988137e-03 -2.90003648e-06 9.99992894e-01 3.71800907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:36.42, Z:0.37 [[ 7.43713467e-01 -6.68492644e-01 -2.80445477e-03 9.04320304e+01] [ 6.68487896e-01 7.43718754e-01 -2.51933450e-03 3.64166517e+01] [ 3.76988219e-03 -1.08107362e-06 9.99992894e-01 3.72580298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:36.44, Z:0.37 [[ 7.43528039e-01 -6.68698881e-01 -2.80375340e-03 9.04532534e+01] [ 6.68694132e-01 7.43533326e-01 -2.52011482e-03 3.64358253e+01] [ 3.76988205e-03 -1.07741469e-06 9.99992894e-01 3.72687668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:36.46, Z:0.37 [[ 7.43723760e-01 -6.68481198e-01 -2.80305425e-03 9.04741761e+01] [ 6.68476444e-01 7.43729042e-01 -2.52089222e-03 3.64563140e+01] [ 3.76988190e-03 1.07170139e-06 9.99992894e-01 3.73588053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:36.48, Z:0.37 [[ 7.43871314e-01 -6.68317001e-01 -2.80243488e-03 9.04938216e+01] [ 6.68312244e-01 7.43876593e-01 -2.52158058e-03 3.64765185e+01] [ 3.76988088e-03 2.82991679e-06 9.99992894e-01 3.74531392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:36.50, Z:0.38 [[ 7.43811549e-01 -6.68383518e-01 -2.80221570e-03 9.05146683e+01] [ 6.68378761e-01 7.43816827e-01 -2.52182413e-03 3.64959398e+01] [ 3.76988087e-03 2.82045428e-06 9.99992894e-01 3.75836167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:36.51, Z:0.38 [[ 7.43742306e-01 -6.68460570e-01 -2.80150858e-03 9.05346665e+01] [ 6.68455810e-01 7.43747583e-01 -2.52260942e-03 3.65146190e+01] [ 3.76988017e-03 3.48665772e-06 9.99992894e-01 3.75570736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:36.53, Z:0.38 [[ 7.43839683e-01 -6.68352213e-01 -2.80112938e-03 9.05555535e+01] [ 6.68347451e-01 7.43844957e-01 -2.52303043e-03 3.65336586e+01] [ 3.76987893e-03 4.60247523e-06 9.99992894e-01 3.76258388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:36.55, Z:0.38 [[ 7.43829901e-01 -6.68363102e-01 -2.80043359e-03 9.05756119e+01] [ 6.68358337e-01 7.43835173e-01 -2.52380247e-03 3.65514703e+01] [ 3.76987745e-03 5.58660629e-06 9.99992894e-01 3.75962784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:36.57, Z:0.38 [[ 7.43590192e-01 -6.68629783e-01 -2.80005422e-03 9.05961873e+01] [ 6.68625018e-01 7.43595464e-01 -2.52422331e-03 3.65699706e+01] [ 3.76987849e-03 4.80139055e-06 9.99992894e-01 3.76416030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:36.59, Z:0.38 [[ 7.43458415e-01 -6.68776307e-01 -2.79936432e-03 9.06167389e+01] [ 6.68771540e-01 7.43463685e-01 -2.52498817e-03 3.65894534e+01] [ 3.76987798e-03 5.08851387e-06 9.99992894e-01 3.76947946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:36.61, Z:0.38 [[ 7.43612898e-01 -6.68604535e-01 -2.79867265e-03 9.06367407e+01] [ 6.68599765e-01 7.43618165e-01 -2.52575458e-03 3.66080382e+01] [ 3.76987479e-03 6.99180671e-06 9.99992894e-01 3.76850458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:36.63, Z:0.38 [[ 7.43994191e-01 -6.68180226e-01 -2.79820036e-03 9.06580731e+01] [ 6.68175450e-01 7.43999453e-01 -2.52627771e-03 3.66269443e+01] [ 3.76986834e-03 9.84715511e-06 9.99992894e-01 3.77247289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:36.64, Z:0.38 [[ 7.45535234e-01 -6.66460343e-01 -2.79752252e-03 9.06793472e+01] [ 6.66455552e-01 7.45540483e-01 -2.52702810e-03 3.66449923e+01] [ 3.76983030e-03 1.95640701e-05 9.99992894e-01 3.78593899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:36.66, Z:0.38 [[ 7.46422386e-01 -6.65466603e-01 -2.79680460e-03 9.07000495e+01] [ 6.65461803e-01 7.46427625e-01 -2.52782241e-03 3.66635983e+01] [ 3.76979361e-03 2.56566088e-05 9.99992894e-01 3.78264112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:36.68, Z:0.38 [[ 7.47305249e-01 -6.64475015e-01 -2.79608503e-03 9.07194506e+01] [ 6.64470205e-01 7.47310480e-01 -2.52861810e-03 3.66821653e+01] [ 3.76974719e-03 3.17343839e-05 9.99992894e-01 3.77471286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:36.70, Z:0.38 [[ 7.48877557e-01 -6.62702489e-01 -2.79577277e-03 9.07391165e+01] [ 6.62697664e-01 7.48882775e-01 -2.52896330e-03 3.67022970e+01] [ 3.76965634e-03 4.11317789e-05 9.99992894e-01 3.75152339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:36.72, Z:0.37 [[ 7.49379594e-01 -6.62134737e-01 -2.79555479e-03 9.07606714e+01] [ 6.62129908e-01 7.49384807e-01 -2.52920423e-03 3.67213329e+01] [ 3.76962027e-03 4.43136038e-05 9.99992894e-01 3.74941107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:36.74, Z:0.37 [[ 7.50122102e-01 -6.61293446e-01 -2.79491119e-03 9.07824139e+01] [ 6.61288608e-01 7.50127307e-01 -2.52991525e-03 3.67392437e+01] [ 3.76955558e-03 4.95024119e-05 9.99992894e-01 3.74006614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:36.76, Z:0.38 [[ 7.51047050e-01 -6.60242773e-01 -2.79454678e-03 9.08043973e+01] [ 6.60237926e-01 7.51052247e-01 -2.53031771e-03 3.67562328e+01] [ 3.76947462e-03 5.53218766e-05 9.99992894e-01 3.78689324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:36.78, Z:0.38 [[ 7.51233639e-01 -6.60030464e-01 -2.79382899e-03 9.08249419e+01] [ 6.60025614e-01 7.51238832e-01 -2.53111000e-03 3.67752407e+01] [ 3.76944254e-03 5.74562812e-05 9.99992894e-01 3.77949649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:36.80, Z:0.37 [[ 7.51203038e-01 -6.60065294e-01 -2.79360713e-03 9.08443878e+01] [ 6.60060442e-01 7.51208230e-01 -2.53135485e-03 3.67957000e+01] [ 3.76944015e-03 5.76119003e-05 9.99992894e-01 3.74603733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:36.82, Z:0.38 [[ 7.50926866e-01 -6.60379466e-01 -2.79325169e-03 9.08658012e+01] [ 6.60374616e-01 7.50932059e-01 -2.53174700e-03 3.68156291e+01] [ 3.76945598e-03 5.65643255e-05 9.99992894e-01 3.77157762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:36.83, Z:0.38 [[ 7.50399436e-01 -6.60978735e-01 -2.79264005e-03 9.08875200e+01] [ 6.60973885e-01 7.50404631e-01 -2.53242150e-03 3.68349893e+01] [ 3.76948678e-03 5.44655225e-05 9.99992894e-01 3.77858441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:36.85, Z:0.38 [[ 7.49042164e-01 -6.62516446e-01 -2.79202594e-03 9.09113865e+01] [ 6.62511605e-01 7.49047366e-01 -2.53309838e-03 3.68518657e+01] [ 3.76957901e-03 4.76479033e-05 9.99992894e-01 3.80506989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:36.87, Z:0.38 [[ 7.48257310e-01 -6.63402748e-01 -2.79141624e-03 9.09335510e+01] [ 6.63397911e-01 7.48262516e-01 -2.53377007e-03 3.68695762e+01] [ 3.76962217e-03 4.40922762e-05 9.99992894e-01 3.81734912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:36.89, Z:0.38 [[ 7.47386380e-01 -6.64383782e-01 -2.79070880e-03 9.09540091e+01] [ 6.64378949e-01 7.47391589e-01 -2.53454902e-03 3.68876277e+01] [ 3.76966555e-03 4.01992380e-05 9.99992894e-01 3.80412601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:36.91, Z:0.38 [[ 7.46775311e-01 -6.65070559e-01 -2.79032080e-03 9.09748699e+01] [ 6.65065729e-01 7.46780523e-01 -2.53497609e-03 3.69067870e+01] [ 3.76969520e-03 3.73108194e-05 9.99992894e-01 3.79391442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:36.93, Z:0.38 [[ 7.46270591e-01 -6.65636856e-01 -2.78962291e-03 9.09962978e+01] [ 6.65632027e-01 7.46275804e-01 -2.53574385e-03 3.69261810e+01] [ 3.76971265e-03 3.54887077e-05 9.99992894e-01 3.76201096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:36.94, Z:0.38 [[ 7.45905997e-01 -6.66045393e-01 -2.78901669e-03 9.10179113e+01] [ 6.66040564e-01 7.45911210e-01 -2.53641045e-03 3.69448617e+01] [ 3.76972331e-03 3.43255099e-05 9.99992894e-01 3.76033335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:36.96, Z:0.38 [[ 7.45789108e-01 -6.66176277e-01 -2.78832371e-03 9.10397506e+01] [ 6.66171447e-01 7.45794319e-01 -2.53717203e-03 3.69630805e+01] [ 3.76971980e-03 3.46936240e-05 9.99992894e-01 3.76328045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:91.06, Y:36.98, Z:0.38 [[ 7.45689200e-01 -6.66288110e-01 -2.78763118e-03 9.10619466e+01] [ 6.66283278e-01 7.45694410e-01 -2.53793270e-03 3.69804128e+01] [ 3.76971537e-03 3.51569620e-05 9.99992894e-01 3.76931974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:37.00, Z:0.38 [[ 7.45713277e-01 -6.66261166e-01 -2.78693737e-03 9.10827449e+01] [ 6.66256331e-01 7.45718484e-01 -2.53869435e-03 3.69991057e+01] [ 3.76970417e-03 3.63234122e-05 9.99992894e-01 3.76663746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:37.02, Z:0.38 [[ 7.45894173e-01 -6.66058646e-01 -2.78624426e-03 9.11035335e+01] [ 6.66053806e-01 7.45899376e-01 -2.53945481e-03 3.70186225e+01] [ 3.76968369e-03 3.83759527e-05 9.99992894e-01 3.77029026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:37.04, Z:0.38 [[ 7.46185330e-01 -6.65732449e-01 -2.78563177e-03 9.11241379e+01] [ 6.65727604e-01 7.46190529e-01 -2.54012650e-03 3.70382763e+01] [ 3.76965668e-03 4.09331704e-05 9.99992894e-01 3.76988898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:37.06, Z:0.38 [[ 7.46954983e-01 -6.64868782e-01 -2.78502118e-03 9.11463085e+01] [ 6.64863929e-01 7.46960173e-01 -2.54079578e-03 3.70564893e+01] [ 3.76959570e-03 4.61999401e-05 9.99992894e-01 3.78825902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:37.07, Z:0.38 [[ 7.47137079e-01 -6.64664150e-01 -2.78440829e-03 9.11670990e+01] [ 6.64659293e-01 7.47142266e-01 -2.54146726e-03 3.70733182e+01] [ 3.76957130e-03 4.81415786e-05 9.99992894e-01 3.79988810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:37.09, Z:0.38 [[ 7.47879513e-01 -6.63828656e-01 -2.78393081e-03 9.11886282e+01] [ 6.63823791e-01 7.47884692e-01 -2.54199019e-03 3.70911674e+01] [ 3.76950517e-03 5.30628838e-05 9.99992894e-01 3.80746071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:37.11, Z:0.38 [[ 7.48127054e-01 -6.63549670e-01 -2.78323934e-03 9.12088165e+01] [ 6.63544800e-01 7.48132229e-01 -2.54274706e-03 3.71102837e+01] [ 3.76947002e-03 5.54938779e-05 9.99992894e-01 3.80605004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49088847899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:91.23, Y:37.13, Z:0.38 [[ 7.48208809e-01 -6.63457486e-01 -2.78253204e-03 9.12294183e+01] [ 6.63452613e-01 7.48213981e-01 -2.54352082e-03 3.71298745e+01] [ 3.76944730e-03 5.70065279e-05 9.99992894e-01 3.80169884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:37.15, Z:0.38 [[ 7.49143415e-01 -6.62401997e-01 -2.78182641e-03 9.12500428e+01] [ 6.62397114e-01 7.49148577e-01 -2.54429233e-03 3.71477501e+01] [ 3.76934562e-03 6.33660641e-05 9.99992894e-01 3.77668906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:37.17, Z:0.38 [[ 7.49483199e-01 -6.62017520e-01 -2.78147620e-03 9.12715966e+01] [ 6.62012633e-01 7.49488358e-01 -2.54467513e-03 3.71665027e+01] [ 3.76930355e-03 6.58188765e-05 9.99992894e-01 3.77785834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:37.19, Z:0.38 [[ 7.49560546e-01 -6.61929947e-01 -2.78082805e-03 9.12925342e+01] [ 6.61925056e-01 7.49565701e-01 -2.54538323e-03 3.71853396e+01] [ 3.76927871e-03 6.72190821e-05 9.99992894e-01 3.77416513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:37.20, Z:0.38 [[ 7.49604504e-01 -6.61880169e-01 -2.78012671e-03 9.13136271e+01] [ 6.61875275e-01 7.49609657e-01 -2.54614902e-03 3.72044288e+01] [ 3.76925537e-03 6.85076394e-05 9.99992894e-01 3.77047526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:37.22, Z:0.38 [[ 7.48795010e-01 -6.62795826e-01 -2.77942533e-03 9.13340856e+01] [ 6.62790936e-01 7.48800166e-01 -2.54691442e-03 3.72226672e+01] [ 3.76931840e-03 6.49388932e-05 9.99992894e-01 3.76018183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:37.24, Z:0.38 [[ 7.47941859e-01 -6.63758429e-01 -2.77894852e-03 9.13550976e+01] [ 6.63753544e-01 7.47947019e-01 -2.54743457e-03 3.72413295e+01] [ 3.76938743e-03 6.07960192e-05 9.99992894e-01 3.76280075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:37.26, Z:0.38 [[ 7.45277740e-01 -6.66748357e-01 -2.77824704e-03 9.13779953e+01] [ 6.66743489e-01 7.45282917e-01 -2.54819938e-03 3.72594712e+01] [ 3.76958781e-03 4.67381556e-05 9.99992894e-01 3.77965614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:37.28, Z:0.38 [[ 7.43582386e-01 -6.68638557e-01 -2.77763784e-03 9.13994932e+01] [ 6.68633700e-01 7.43587573e-01 -2.54886326e-03 3.72772278e+01] [ 3.76968523e-03 3.80675561e-05 9.99992894e-01 3.78669582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:37.30, Z:0.38 [[ 7.41352015e-01 -6.71110629e-01 -2.77732750e-03 9.14216111e+01] [ 6.71105788e-01 7.41357217e-01 -2.54920138e-03 3.72959886e+01] [ 3.76978792e-03 2.59750195e-05 9.99992894e-01 3.81304941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:37.31, Z:0.38 [[ 7.39096942e-01 -6.73593349e-01 -2.77672044e-03 9.14418793e+01] [ 6.73588523e-01 7.39102158e-01 -2.54986245e-03 3.73139964e+01] [ 3.76985045e-03 1.42285201e-05 9.99992894e-01 3.81396371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:37.33, Z:0.38 [[ 7.34728657e-01 -6.78355432e-01 -2.77632122e-03 9.14631040e+01] [ 6.78350638e-01 7.34733902e-01 -2.55029704e-03 3.73332760e+01] [ 3.76986518e-03 -9.54295252e-06 9.99992894e-01 3.81540571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:37.35, Z:0.38 [[ 7.32862737e-01 -6.80370858e-01 -2.77571324e-03 9.14840711e+01] [ 6.80366076e-01 7.32867993e-01 -2.55095859e-03 3.73522472e+01] [ 3.76982928e-03 -1.89986352e-05 9.99992894e-01 3.81748083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:37.37, Z:0.38 [[ 7.31201415e-01 -6.82155986e-01 -2.77500495e-03 9.15052324e+01] [ 6.82151214e-01 7.31206680e-01 -2.55172886e-03 3.73711266e+01] [ 3.76977927e-03 -2.71452456e-05 9.99992894e-01 3.81994673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:37.39, Z:0.38 [[ 7.28551767e-01 -6.84985129e-01 -2.77429891e-03 9.15263044e+01] [ 6.84980374e-01 7.28557048e-01 -2.55249625e-03 3.73885269e+01] [ 3.76965699e-03 -4.07146530e-05 9.99992894e-01 3.81762698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:37.41, Z:0.38 [[ 7.27373493e-01 -6.86236189e-01 -2.77393335e-03 9.15464616e+01] [ 6.86231442e-01 7.27378780e-01 -2.55289346e-03 3.74068432e+01] [ 3.76958814e-03 -4.66532511e-05 9.99992894e-01 3.80985056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:37.43, Z:0.38 [[ 7.26017252e-01 -6.87670893e-01 -2.77355829e-03 9.15666445e+01] [ 6.87666155e-01 7.26022548e-01 -2.55330088e-03 3.74266254e+01] [ 3.76949655e-03 -5.35416730e-05 9.99992894e-01 3.79707032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:37.45, Z:0.38 [[ 7.25827375e-01 -6.87871305e-01 -2.77287144e-03 9.15864313e+01] [ 6.87866566e-01 7.25832670e-01 -2.55404657e-03 3.74463050e+01] [ 3.76949603e-03 -5.35686360e-05 9.99992894e-01 3.78915581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:37.47, Z:0.38 [[ 7.25725513e-01 -6.87978775e-01 -2.77218664e-03 9.16076352e+01] [ 6.87974034e-01 7.25730806e-01 -2.55478964e-03 3.74676460e+01] [ 3.76950229e-03 -5.31163997e-05 9.99992894e-01 3.78307390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:37.49, Z:0.38 [[ 7.26542660e-01 -6.87115736e-01 -2.77984703e-03 9.16257430e+01] [ 6.87111020e-01 7.26547976e-01 -2.54647931e-03 3.74864114e+01] [ 3.76941824e-03 -5.99376792e-05 9.99992894e-01 3.76916557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:37.51, Z:0.38 [[ 7.28328760e-01 -6.85222253e-01 -2.77130450e-03 9.16452454e+01] [ 6.85217488e-01 7.28334032e-01 -2.55574235e-03 3.75071155e+01] [ 3.76968691e-03 -3.75256521e-05 9.99992894e-01 3.76514698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:37.53, Z:0.38 [[ 7.29204179e-01 -6.84290573e-01 -2.77061411e-03 9.16650544e+01] [ 6.84285799e-01 7.29209442e-01 -2.55649057e-03 3.75264965e+01] [ 3.76974037e-03 -3.16882745e-05 9.99992894e-01 3.77937647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:37.55, Z:0.38 [[ 7.31161800e-01 -6.82198468e-01 -2.76992601e-03 9.16853492e+01] [ 6.82193675e-01 7.31167047e-01 -2.55723590e-03 3.75478181e+01] [ 3.76982103e-03 -1.98727944e-05 9.99992894e-01 3.81731331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:37.57, Z:0.38 [[ 7.32202107e-01 -6.81081790e-01 -2.76931372e-03 9.17050406e+01] [ 6.81076987e-01 7.32207344e-01 -2.55789880e-03 3.75683021e+01] [ 3.76985014e-03 -1.32169529e-05 9.99992894e-01 3.82657676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:37.59, Z:0.38 [[ 7.33448797e-01 -6.79739065e-01 -2.76861045e-03 9.17247103e+01] [ 6.79734249e-01 7.33454023e-01 -2.55865978e-03 3.75889476e+01] [ 3.76986947e-03 -5.27340885e-06 9.99992894e-01 3.82383853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:37.61, Z:0.38 [[ 7.36062823e-01 -6.76907570e-01 -2.76790989e-03 9.17431624e+01] [ 6.76902732e-01 7.36068027e-01 -2.55941740e-03 3.76103218e+01] [ 3.76985899e-03 1.02862256e-05 9.99992894e-01 3.81138895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:37.63, Z:0.38 [[ 7.36969737e-01 -6.75920076e-01 -2.76721295e-03 9.17627620e+01] [ 6.75915228e-01 7.36974932e-01 -2.56017071e-03 3.76301303e+01] [ 3.76983735e-03 1.63669631e-05 9.99992894e-01 3.80974084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:37.65, Z:0.38 [[ 7.36786529e-01 -6.76119780e-01 -2.76651924e-03 9.17836956e+01] [ 6.76114931e-01 7.36791722e-01 -2.56092011e-03 3.76496194e+01] [ 3.76983722e-03 1.63664780e-05 9.99992894e-01 3.81081462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:37.67, Z:0.38 [[ 7.37935127e-01 -6.74865986e-01 -2.76582499e-03 9.18028835e+01] [ 6.74861125e-01 7.37940310e-01 -2.56166968e-03 3.76699904e+01] [ 3.76979749e-03 2.37982775e-05 9.99992894e-01 3.80590358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:37.69, Z:0.38 [[ 7.37984543e-01 -6.74811950e-01 -2.76512253e-03 9.18229136e+01] [ 6.74807085e-01 7.37989723e-01 -2.56242771e-03 3.76900524e+01] [ 3.76978885e-03 2.51077708e-05 9.99992894e-01 3.80383209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:37.71, Z:0.38 [[ 7.37690028e-01 -6.75133898e-01 -2.76442294e-03 9.18426020e+01] [ 6.75129033e-01 7.37695207e-01 -2.56318223e-03 3.77101361e+01] [ 3.76979276e-03 2.44917808e-05 9.99992894e-01 3.81209773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:37.73, Z:0.38 [[ 7.37579136e-01 -6.75255048e-01 -2.76371074e-03 9.18626924e+01] [ 6.75250181e-01 7.37584314e-01 -2.56394992e-03 3.77307242e+01] [ 3.76978981e-03 2.49197900e-05 9.99992894e-01 3.84417019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:37.75, Z:0.39 [[ 7.37631409e-01 -6.75197949e-01 -2.76309003e-03 9.18833472e+01] [ 6.75193079e-01 7.37636584e-01 -2.56461867e-03 3.77502950e+01] [ 3.76978155e-03 2.61240177e-05 9.99992894e-01 3.86101469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:37.77, Z:0.39 [[ 7.37742925e-01 -6.75076104e-01 -2.76237966e-03 9.19032105e+01] [ 6.75071230e-01 7.37748096e-01 -2.56538359e-03 3.77694862e+01] [ 3.76976949e-03 2.77905592e-05 9.99992894e-01 3.87408146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:37.79, Z:0.39 [[ 7.38175655e-01 -6.74602902e-01 -2.76167205e-03 9.19218625e+01] [ 6.74598022e-01 7.38180820e-01 -2.56614511e-03 3.77904670e+01] [ 3.76974228e-03 3.12473415e-05 9.99992894e-01 3.87101742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:37.81, Z:0.39 [[ 7.38186020e-01 -6.74591563e-01 -2.76096483e-03 9.19401479e+01] [ 6.74586680e-01 7.38191183e-01 -2.56690580e-03 3.78109283e+01] [ 3.76973288e-03 3.23438785e-05 9.99992894e-01 3.85112726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:37.83, Z:0.38 [[ 7.37900978e-01 -6.74903346e-01 -2.76059587e-03 9.19591370e+01] [ 6.74898463e-01 7.37906141e-01 -2.56730253e-03 3.78319535e+01] [ 3.76974171e-03 3.12931323e-05 9.99992894e-01 3.83295901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:37.85, Z:0.38 [[ 7.36630771e-01 -6.76289502e-01 -2.75988960e-03 9.19778554e+01] [ 6.76284627e-01 7.36635941e-01 -2.56806156e-03 3.78521994e+01] [ 3.76978694e-03 2.52422568e-05 9.99992894e-01 3.80094346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:37.87, Z:0.38 [[ 7.35118152e-01 -6.77933395e-01 -2.75952354e-03 9.19990060e+01] [ 6.77928530e-01 7.35123331e-01 -2.56845485e-03 3.78714194e+01] [ 3.76983145e-03 1.73580486e-05 9.99992894e-01 3.81839835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:37.89, Z:0.38 [[ 7.33536463e-01 -6.79644500e-01 -2.75881193e-03 9.20196280e+01] [ 6.79639644e-01 7.33541651e-01 -2.56921897e-03 3.78894860e+01] [ 3.76985900e-03 9.61783708e-06 9.99992894e-01 3.83549106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:37.91, Z:0.39 [[ 7.31496166e-01 -6.81839974e-01 -2.75841423e-03 9.20403910e+01] [ 6.81835131e-01 7.31501367e-01 -2.56964589e-03 3.79084886e+01] [ 3.76987107e-03 -1.09760889e-06 9.99992894e-01 3.85291145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:37.93, Z:0.39 [[ 7.27880438e-01 -6.85698522e-01 -2.75771416e-03 9.20601969e+01] [ 6.85693705e-01 7.27885662e-01 -2.57039697e-03 3.79288028e+01] [ 3.76981800e-03 -2.00055650e-05 9.99992894e-01 3.87119478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:37.95, Z:0.39 [[ 7.26437252e-01 -6.87227268e-01 -2.75700780e-03 9.20798806e+01] [ 6.87222458e-01 7.26442484e-01 -2.57115440e-03 3.79491849e+01] [ 3.76977500e-03 -2.68953378e-05 9.99992894e-01 3.87433205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:37.97, Z:0.39 [[ 7.24391881e-01 -6.89382917e-01 -2.75629656e-03 9.20987370e+01] [ 6.89378120e-01 7.24397124e-01 -2.57191663e-03 3.79687181e+01] [ 3.76968868e-03 -3.70550153e-05 9.99992894e-01 3.87010032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:37.99, Z:0.39 [[ 7.23739131e-01 -6.90068167e-01 -2.75591424e-03 9.21192863e+01] [ 6.90063374e-01 7.23744377e-01 -2.57232623e-03 3.79884206e+01] [ 3.76965788e-03 -4.00623349e-05 9.99992894e-01 3.87692726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:38.01, Z:0.39 [[ 7.23170009e-01 -6.90664569e-01 -2.75521395e-03 9.21390824e+01] [ 6.90659777e-01 7.23175257e-01 -2.57307609e-03 3.80077249e+01] [ 3.76963504e-03 -4.21439920e-05 9.99992894e-01 3.87974484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:38.03, Z:0.39 [[ 7.23129626e-01 -6.90706853e-01 -2.75449440e-03 9.21571018e+01] [ 6.90702059e-01 7.23134871e-01 -2.57384614e-03 3.80275358e+01] [ 3.76964412e-03 -4.13105565e-05 9.99992894e-01 3.87462382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:38.05, Z:0.39 [[ 7.23266438e-01 -6.90563593e-01 -2.75400562e-03 9.21765962e+01] [ 6.90558796e-01 7.23271680e-01 -2.57436903e-03 3.80478254e+01] [ 3.76965980e-03 -3.98480803e-05 9.99992894e-01 3.87874912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.20, Y:38.07, Z:0.39 [[ 7.23390186e-01 -6.90433963e-01 -2.75330568e-03 9.21958726e+01] [ 6.90429162e-01 7.23395425e-01 -2.57511741e-03 3.80677183e+01] [ 3.76967725e-03 -3.81478674e-05 9.99992894e-01 3.88742244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:92.21, Y:38.09, Z:0.39 [[ 7.24041136e-01 -6.89751300e-01 -2.75259487e-03 9.22145832e+01] [ 6.89746491e-01 7.24046368e-01 -2.57587698e-03 3.80869949e+01] [ 3.76972081e-03 -3.35517642e-05 9.99992894e-01 3.90970744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:38.11, Z:0.39 [[ 7.24246780e-01 -6.89535371e-01 -2.75218473e-03 9.22347156e+01] [ 6.89530558e-01 7.24252008e-01 -2.57631512e-03 3.81072395e+01] [ 3.76973572e-03 -3.18275454e-05 9.99992894e-01 3.91672339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:38.13, Z:0.39 [[ 7.25164075e-01 -6.88570617e-01 -2.75148285e-03 9.22529600e+01] [ 6.88565795e-01 7.25169294e-01 -2.57706450e-03 3.81266485e+01] [ 3.76978177e-03 -2.57823771e-05 9.99992894e-01 3.88718922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:38.15, Z:0.39 [[ 7.27011586e-01 -6.86619680e-01 -2.75110682e-03 9.22726026e+01] [ 6.86614842e-01 7.27016791e-01 -2.57746586e-03 3.81484023e+01] [ 3.76983964e-03 -1.51032290e-05 9.99992894e-01 3.91902134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:38.17, Z:0.39 [[ 7.28099518e-01 -6.85465920e-01 -2.75047420e-03 9.22913109e+01] [ 6.85461072e-01 7.28104713e-01 -2.57814077e-03 3.81691905e+01] [ 3.76986086e-03 -8.19994584e-06 9.99992894e-01 3.92157077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.31, Y:38.19, Z:0.39 [[ 7.30454429e-01 -6.82955904e-01 -2.74975420e-03 9.23082810e+01] [ 6.82951035e-01 7.30459604e-01 -2.57890847e-03 3.81915175e+01] [ 3.76986513e-03 5.82763695e-06 9.99992894e-01 3.90963156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.33, Y:38.21, Z:0.39 [[ 7.31480177e-01 -6.81857165e-01 -2.74902835e-03 9.23276461e+01] [ 6.81852286e-01 7.31485342e-01 -2.57968196e-03 3.82116706e+01] [ 3.76984858e-03 1.25549547e-05 9.99992894e-01 3.90452841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.35, Y:38.23, Z:0.39 [[ 7.32518804e-01 -6.80741249e-01 -2.74829584e-03 9.23473054e+01] [ 6.80736359e-01 7.32523960e-01 -2.58046212e-03 3.82314981e+01] [ 3.76981956e-03 1.93721252e-05 9.99992894e-01 3.90502457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:38.25, Z:0.39 [[ 7.34694633e-01 -6.78392399e-01 -2.74756509e-03 9.23660499e+01] [ 6.78387489e-01 7.34699770e-01 -2.58123996e-03 3.82524807e+01] [ 3.76972901e-03 3.25093662e-05 9.99992894e-01 3.91613714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.38, Y:38.27, Z:0.39 [[ 7.35737585e-01 -6.77261147e-01 -2.74682548e-03 9.23842268e+01] [ 6.77256226e-01 7.35742712e-01 -2.58202677e-03 3.82720236e+01] [ 3.76966324e-03 3.93894869e-05 9.99992894e-01 3.90767480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260888479 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:92.40, Y:38.29, Z:0.39 [[ 7.36737966e-01 -6.76172778e-01 -2.74650385e-03 9.24036969e+01] [ 6.76167849e-01 7.36743084e-01 -2.58236884e-03 3.82922917e+01] [ 3.76959523e-03 4.54315638e-05 9.99992894e-01 3.91095577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.42, Y:38.31, Z:0.39 [[ 7.37619251e-01 -6.75211302e-01 -2.74577076e-03 9.24225422e+01] [ 6.75206362e-01 7.37624359e-01 -2.58314809e-03 3.83120262e+01] [ 3.76951818e-03 5.14178687e-05 9.99992894e-01 3.91524515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320888479 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.44, Y:38.33, Z:0.39 [[ 7.39447323e-01 -6.73208823e-01 -2.74527244e-03 9.24407002e+01] [ 6.73203868e-01 7.39452417e-01 -2.58367757e-03 3.83325311e+01] [ 3.76935288e-03 6.23654372e-05 9.99992894e-01 3.92158895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35088847899999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:92.46, Y:38.35, Z:0.39 [[ 7.40412096e-01 -6.72147598e-01 -2.74495846e-03 9.24597239e+01] [ 6.72142635e-01 7.40417181e-01 -2.58401111e-03 3.83520146e+01] [ 3.76925127e-03 6.82294717e-05 9.99992894e-01 3.90005364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38088847899999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:92.48, Y:38.37, Z:0.39 [[ 7.41195872e-01 -6.71283209e-01 -2.74447642e-03 9.24791316e+01] [ 6.71278238e-01 7.41200949e-01 -2.58452299e-03 3.83720540e+01] [ 3.76915541e-03 7.33304782e-05 9.99992894e-01 3.89486639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.410888479 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:92.50, Y:38.39, Z:0.39 [[ 7.42877506e-01 -6.69421753e-01 -2.74376001e-03 9.24981819e+01] [ 6.69416766e-01 7.42882568e-01 -2.58528331e-03 3.83913649e+01] [ 3.76893637e-03 8.38298621e-05 9.99992894e-01 3.89663893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.440888479 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:92.52, Y:38.41, Z:0.39 [[ 7.42985490e-01 -6.69301901e-01 -2.74344951e-03 9.25183392e+01] [ 6.69296912e-01 7.42990551e-01 -2.58561276e-03 3.84104547e+01] [ 3.76891260e-03 8.48904812e-05 9.99992894e-01 3.90893680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.470888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.54, Y:38.43, Z:0.39 [[ 7.42889688e-01 -6.69408237e-01 -2.74274560e-03 9.25380697e+01] [ 6.69403246e-01 7.42894747e-01 -2.58635924e-03 3.84299565e+01] [ 3.76890147e-03 8.53767978e-05 9.99992894e-01 3.91101922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.56, Y:38.45, Z:0.39 [[ 7.42582750e-01 -6.69748715e-01 -2.74201489e-03 9.25575581e+01] [ 6.69743723e-01 7.42587807e-01 -2.58713369e-03 3.84502493e+01] [ 3.76891629e-03 8.47135865e-05 9.99992894e-01 3.90559123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:92.58, Y:38.47, Z:0.39 [[ 7.42808411e-01 -6.69498432e-01 -2.74126727e-03 9.25762474e+01] [ 6.69493436e-01 7.42813464e-01 -2.58792561e-03 3.84697925e+01] [ 3.76886237e-03 8.70724635e-05 9.99992894e-01 3.88878485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:92.60, Y:38.49, Z:0.39 [[ 7.43122956e-01 -6.69149280e-01 -2.74094359e-03 9.25951614e+01] [ 6.69144280e-01 7.43128006e-01 -2.58826838e-03 3.84888300e+01] [ 3.76880987e-03 8.93149234e-05 9.99992894e-01 3.87771391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590888479 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:92.62, Y:38.51, Z:0.39 [[ 7.42580426e-01 -6.69751321e-01 -2.73464837e-03 9.26158995e+01] [ 6.69746301e-01 7.42585456e-01 -2.59493147e-03 3.85088421e+01] [ 3.76866889e-03 9.54246828e-05 9.99992894e-01 3.87945493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.64, Y:38.53, Z:0.39 [[ 7.42170492e-01 -6.70205531e-01 -2.74008197e-03 9.26366938e+01] [ 6.70200535e-01 7.42175545e-01 -2.58918119e-03 3.85281547e+01] [ 3.76890539e-03 8.52094777e-05 9.99992894e-01 3.87899354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.66, Y:38.55, Z:0.39 [[ 7.41729666e-01 -6.70693371e-01 -2.73933926e-03 9.26562133e+01] [ 6.70688376e-01 7.41734720e-01 -2.58996674e-03 3.85474689e+01] [ 3.76893656e-03 8.38121676e-05 9.99992894e-01 3.87755211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.68, Y:38.57, Z:0.39 [[ 7.41158105e-01 -6.71324930e-01 -2.73899280e-03 9.26762544e+01] [ 6.71319938e-01 7.41163161e-01 -2.59033308e-03 3.85670923e+01] [ 3.76899574e-03 8.11058784e-05 9.99992894e-01 3.88957964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710888479 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:92.70, Y:38.59, Z:0.39 [[ 7.40840329e-01 -6.71675598e-01 -2.73825381e-03 9.26967134e+01] [ 6.71670605e-01 7.40845385e-01 -2.59111404e-03 3.85865649e+01] [ 3.76901077e-03 8.03971845e-05 9.99992894e-01 3.89294100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74088847899999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:92.72, Y:38.61, Z:0.39 [[ 7.40122221e-01 -6.72466805e-01 -2.73751878e-03 9.27169924e+01] [ 6.72461815e-01 7.40127279e-01 -2.59189036e-03 3.86059652e+01] [ 3.76907256e-03 7.74388019e-05 9.99992894e-01 3.89391722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77088847899999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.74, Y:38.62, Z:0.39 [[ 7.38721248e-01 -6.74005510e-01 -2.73677473e-03 9.27376043e+01] [ 6.74000527e-01 7.38726314e-01 -2.59267576e-03 3.86240060e+01] [ 3.76920526e-03 7.06770615e-05 9.99992894e-01 3.89008858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.800888479 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.76, Y:38.64, Z:0.39 [[ 7.37791564e-01 -6.75023053e-01 -2.73627090e-03 9.27586440e+01] [ 6.75018075e-01 7.37796635e-01 -2.59320740e-03 3.86432403e+01] [ 3.76928623e-03 6.62142271e-05 9.99992894e-01 3.88910082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.830888479 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:92.77, Y:38.66, Z:0.38 [[ 7.34137351e-01 -6.78995483e-01 -2.73552906e-03 9.27720474e+01] [ 6.78990530e-01 7.34142446e-01 -2.59398971e-03 3.86631611e+01] [ 3.76957529e-03 4.69464046e-05 9.99992894e-01 3.84083742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860888479 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.80, Y:38.68, Z:0.39 [[ 7.36593475e-01 -6.76330371e-01 -2.69838036e-03 9.27992331e+01] [ 6.76325255e-01 7.36598409e-01 -2.63312636e-03 3.86829080e+01] [ 3.76848601e-03 1.14560911e-04 9.99992893e-01 3.87357540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890888479 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:92.82, Y:38.70, Z:0.39 [[ 7.35947527e-01 -6.77033055e-01 -2.73496707e-03 9.28204013e+01] [ 6.77028086e-01 7.35952607e-01 -2.59455973e-03 3.87032537e+01] [ 3.76940885e-03 5.78102959e-05 9.99992894e-01 3.87413842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.84, Y:38.72, Z:0.39 [[ 7.36085128e-01 -6.76883426e-01 -2.74098146e-03 9.28401137e+01] [ 6.76878479e-01 7.36090229e-01 -2.58822094e-03 3.87216451e+01] [ 3.76953353e-03 4.98395811e-05 9.99992894e-01 3.87593959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950888479 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.86, Y:38.74, Z:0.39 [[ 7.36091298e-01 -6.76876726e-01 -2.73841794e-03 9.28616583e+01] [ 6.76871769e-01 7.36096390e-01 -2.59092185e-03 3.87406475e+01] [ 3.76947425e-03 5.35972308e-05 9.99992894e-01 3.87663010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.88, Y:38.76, Z:0.39 [[ 7.36058548e-01 -6.76912326e-01 -2.74148209e-03 9.28821490e+01] [ 6.76907382e-01 7.36063652e-01 -2.58769514e-03 3.87578860e+01] [ 3.76954806e-03 4.89656640e-05 9.99992894e-01 3.88310929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.90, Y:38.78, Z:0.39 [[ 7.35417672e-01 -6.77608576e-01 -2.73252930e-03 9.29041081e+01] [ 6.77603601e-01 7.35422746e-01 -2.59711473e-03 3.87786285e+01] [ 3.76939142e-03 5.83923770e-05 9.99992894e-01 3.87154640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.92, Y:38.80, Z:0.39 [[ 7.35473428e-01 -6.77548023e-01 -2.74099062e-03 9.29226910e+01] [ 6.77543082e-01 7.35478534e-01 -2.58821450e-03 3.87978191e+01] [ 3.76957938e-03 4.64237634e-05 9.99992894e-01 3.86675154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070888479 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:92.94, Y:38.82, Z:0.38 [[ 7.35594958e-01 -6.77416119e-01 -2.73115553e-03 9.29420992e+01] [ 6.77411138e-01 7.35600025e-01 -2.59855148e-03 3.88179333e+01] [ 3.76933874e-03 6.13661903e-05 9.99992894e-01 3.82964415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10088847899999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.96, Y:38.84, Z:0.38 [[ 7.35717469e-01 -6.77283065e-01 -2.73043446e-03 9.29633713e+01] [ 6.77278081e-01 7.35722533e-01 -2.59930892e-03 3.88369093e+01] [ 3.76931007e-03 6.30935718e-05 9.99992894e-01 3.82644818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13088847899999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.99, Y:38.86, Z:0.38 [[ 7.35847595e-01 -6.77141688e-01 -2.72971509e-03 9.29850700e+01] [ 6.77136699e-01 7.35852655e-01 -2.60006417e-03 3.88553598e+01] [ 3.76927993e-03 6.48606985e-05 9.99992894e-01 3.83359225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.160888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.01, Y:38.87, Z:0.38 [[ 7.36521343e-01 -6.76408800e-01 -2.72898879e-03 9.30070995e+01] [ 6.76403803e-01 7.36526395e-01 -2.60082626e-03 3.88731011e+01] [ 3.76919404e-03 6.96656525e-05 9.99992894e-01 3.84664740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.190888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.03, Y:38.89, Z:0.38 [[ 7.36329822e-01 -6.76617284e-01 -2.72825201e-03 9.30277450e+01] [ 6.76612286e-01 7.36334873e-01 -2.60159891e-03 3.88928836e+01] [ 3.76919388e-03 6.96660348e-05 9.99992894e-01 3.84772119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.220888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.05, Y:38.91, Z:0.38 [[ 7.36680856e-01 -6.76235075e-01 -2.72751527e-03 9.30470164e+01] [ 6.76230071e-01 7.36685902e-01 -2.60237107e-03 3.89119179e+01] [ 3.76913664e-03 7.26891039e-05 9.99992894e-01 3.83874708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.07, Y:38.93, Z:0.38 [[ 7.36777879e-01 -6.76129366e-01 -2.72719605e-03 9.30666141e+01] [ 6.76124360e-01 7.36782923e-01 -2.60270556e-03 3.89321951e+01] [ 3.76911714e-03 7.36921959e-05 9.99992894e-01 3.81841420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280888479 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:93.08, Y:38.95, Z:0.38 [[ 7.35268387e-01 -6.77770584e-01 -2.72644413e-03 9.30833221e+01] [ 6.77765587e-01 7.35273439e-01 -2.60349300e-03 3.89525921e+01] [ 3.76925292e-03 6.63760919e-05 9.99992894e-01 3.79422761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310888479 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:93.11, Y:38.97, Z:0.38 [[ 7.35856677e-01 -6.77131911e-01 -2.70665492e-03 9.31075542e+01] [ 6.77126833e-01 7.35861648e-01 -2.62420042e-03 3.89709690e+01] [ 3.76865340e-03 9.82867244e-05 9.99992894e-01 3.79553595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.13, Y:38.99, Z:0.38 [[ 7.34795186e-01 -6.78283573e-01 -2.72558290e-03 9.31290847e+01] [ 6.78278576e-01 7.34800238e-01 -2.60439166e-03 3.89887120e+01] [ 3.76927505e-03 6.49899723e-05 9.99992894e-01 3.80518567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:39.01, Z:0.38 [[ 7.32962871e-01 -6.80263188e-01 -2.72484355e-03 9.31512363e+01] [ 6.80258202e-01 7.32967933e-01 -2.60516497e-03 3.90054569e+01] [ 3.76942078e-03 5.58920187e-05 9.99992894e-01 3.82721119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.17, Y:39.03, Z:0.38 [[ 7.32176871e-01 -6.81109102e-01 -2.72411130e-03 9.31716632e+01] [ 6.81104119e-01 7.32181937e-01 -2.60593043e-03 3.90252179e+01] [ 3.76946802e-03 5.25985589e-05 9.99992894e-01 3.82986295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.19, Y:39.05, Z:0.38 [[ 7.31348947e-01 -6.81998021e-01 -2.72338026e-03 9.31908163e+01] [ 6.81993041e-01 7.31354016e-01 -2.60669419e-03 3.90453098e+01] [ 3.76951537e-03 4.90766655e-05 9.99992894e-01 3.82745289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:93.21, Y:39.07, Z:0.38 [[ 7.30374225e-01 -6.83041784e-01 -2.72264008e-03 9.32097203e+01] [ 6.83036809e-01 7.30379298e-01 -2.60746707e-03 3.90663006e+01] [ 3.76956891e-03 4.47633441e-05 9.99992894e-01 3.81453921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49088847899999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.23, Y:39.08, Z:0.38 [[ 7.29852696e-01 -6.83599030e-01 -2.72188801e-03 9.32302137e+01] [ 6.83594056e-01 7.29857770e-01 -2.60825191e-03 3.90846812e+01] [ 3.76958959e-03 4.29732211e-05 9.99992894e-01 3.81576286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52088847899999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:93.25, Y:39.10, Z:0.38 [[ 7.28796703e-01 -6.84724733e-01 -2.72156196e-03 9.32525024e+01] [ 6.84719765e-01 7.28801783e-01 -2.60859208e-03 3.91035199e+01] [ 3.76964672e-03 3.76260409e-05 9.99992894e-01 3.81684025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:39.12, Z:0.38 [[ 7.27285377e-01 -6.86329777e-01 -2.72370800e-03 9.32744345e+01] [ 6.86324828e-01 7.27290476e-01 -2.60635381e-03 3.91205422e+01] [ 3.76974512e-03 2.62145908e-05 9.99992894e-01 3.81077810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.580888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.29, Y:39.14, Z:0.38 [[ 7.26160433e-01 -6.87519908e-01 -2.72062922e-03 9.32939404e+01] [ 6.87514956e-01 7.26165529e-01 -2.60956363e-03 3.91393107e+01] [ 3.76975410e-03 2.44885730e-05 9.99992894e-01 3.80288943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:39.16, Z:0.38 [[ 7.24299958e-01 -6.89479637e-01 -2.72031024e-03 9.33132697e+01] [ 6.89474698e-01 7.24305066e-01 -2.60989610e-03 3.91600989e+01] [ 3.76980471e-03 1.47625594e-05 9.99992894e-01 3.78362365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.33, Y:39.18, Z:0.38 [[ 7.23412108e-01 -6.90411128e-01 -2.71958076e-03 9.33335034e+01] [ 6.90406192e-01 7.23417220e-01 -2.61065602e-03 3.91799849e+01] [ 3.76981752e-03 1.09647828e-05 9.99992894e-01 3.78694730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.35, Y:39.20, Z:0.38 [[ 7.22918094e-01 -6.90928388e-01 -2.71883560e-03 9.33535387e+01] [ 6.90923453e-01 7.22923207e-01 -2.61143183e-03 3.91985945e+01] [ 3.76982173e-03 9.34404305e-06 9.99992894e-01 3.80206215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.38, Y:39.22, Z:0.38 [[ 7.21980699e-01 -6.91907855e-01 -2.71851308e-03 9.33752282e+01] [ 6.91902926e-01 7.21985817e-01 -2.61176753e-03 3.92170318e+01] [ 3.76983036e-03 4.69859792e-06 9.99992894e-01 3.81682742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.40, Y:39.24, Z:0.38 [[ 7.21741906e-01 -6.92156943e-01 -2.71778930e-03 9.33964252e+01] [ 6.92152013e-01 7.21747023e-01 -2.61252047e-03 3.92356228e+01] [ 3.76983052e-03 4.44216895e-06 9.99992894e-01 3.81999412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.42, Y:39.25, Z:0.38 [[ 7.21608917e-01 -6.92295594e-01 -2.71705517e-03 9.34172829e+01] [ 6.92290661e-01 7.21614032e-01 -2.61328376e-03 3.92542154e+01] [ 3.76982996e-03 4.77694342e-06 9.99992894e-01 3.82465114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.44, Y:39.27, Z:0.38 [[ 7.22436670e-01 -6.91431760e-01 -2.71631349e-03 9.34363744e+01] [ 6.91426819e-01 7.22441777e-01 -2.61405445e-03 3.92734076e+01] [ 3.76981861e-03 1.03568005e-05 9.99992894e-01 3.82964463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:93.46, Y:39.29, Z:0.38 [[ 7.23319511e-01 -6.90508152e-01 -2.71599197e-03 9.34554732e+01] [ 6.90503203e-01 7.23324610e-01 -2.61438846e-03 3.92935331e+01] [ 3.76980038e-03 1.56370242e-05 9.99992894e-01 3.82814441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.47, Y:39.31, Z:0.38 [[ 7.25871743e-01 -6.87824716e-01 -2.71526973e-03 9.34733371e+01] [ 6.87819745e-01 7.25876821e-01 -2.61513835e-03 3.93133971e+01] [ 3.76970816e-03 3.06388982e-05 9.99992894e-01 3.82047485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:39.33, Z:0.38 [[ 7.27139728e-01 -6.86484119e-01 -2.71487986e-03 9.34932975e+01] [ 6.86479137e-01 7.27144795e-01 -2.61554304e-03 3.93327227e+01] [ 3.76963951e-03 3.81568737e-05 9.99992894e-01 3.81463878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:39.35, Z:0.38 [[ 7.28348827e-01 -6.85201153e-01 -2.71414091e-03 9.35141178e+01] [ 6.85196160e-01 7.28353882e-01 -2.61630962e-03 3.93516366e+01] [ 3.76955343e-03 4.58671149e-05 9.99992894e-01 3.81126905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.940888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.53, Y:39.37, Z:0.38 [[ 7.29338673e-01 -6.84147453e-01 -2.71340436e-03 9.35346791e+01] [ 6.84142449e-01 7.29343719e-01 -2.61707328e-03 3.93707988e+01] [ 3.76946844e-03 5.23776529e-05 9.99992894e-01 3.80799996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.55, Y:39.39, Z:0.38 [[ 7.30988088e-01 -6.82384830e-01 -2.71267019e-03 9.35545896e+01] [ 6.82379812e-01 7.30993119e-01 -2.61783404e-03 3.93894276e+01] [ 3.76931348e-03 6.25341269e-05 9.99992894e-01 3.79305479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.58, Y:39.41, Z:0.38 [[ 7.31437438e-01 -6.81903158e-01 -2.71224679e-03 9.35750448e+01] [ 6.81898135e-01 7.31442464e-01 -2.61827264e-03 3.94093778e+01] [ 3.76926086e-03 6.56266028e-05 9.99992894e-01 3.78775338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:39.43, Z:0.38 [[ 7.32023931e-01 -6.81273523e-01 -2.71151149e-03 9.35952070e+01] [ 6.81268492e-01 7.32028949e-01 -2.61903391e-03 3.94289895e+01] [ 3.76918336e-03 6.99281548e-05 9.99992894e-01 3.78760525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:39.45, Z:0.38 [[ 7.33722568e-01 -6.79443776e-01 -2.71077793e-03 9.36150026e+01] [ 6.79438730e-01 7.33727571e-01 -2.61979294e-03 3.94479532e+01] [ 3.76897451e-03 8.03936852e-05 9.99992894e-01 3.79510984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:39.47, Z:0.38 [[ 7.34403206e-01 -6.78708026e-01 -2.71036935e-03 9.36347883e+01] [ 6.78702974e-01 7.34408202e-01 -2.62021558e-03 3.94663243e+01] [ 3.76887883e-03 8.47589793e-05 9.99992894e-01 3.79983706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:39.49, Z:0.38 [[ 7.34239034e-01 -6.78885641e-01 -2.70688676e-03 9.36556698e+01] [ 6.78880576e-01 7.34244019e-01 -2.62381657e-03 3.94856829e+01] [ 3.76878681e-03 8.88557009e-05 9.99992894e-01 3.80670216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:39.50, Z:0.38 [[ 7.33260041e-01 -6.79942918e-01 -2.70935007e-03 9.36770729e+01] [ 6.79937870e-01 7.33265042e-01 -2.62127050e-03 3.95042445e+01] [ 3.76898600e-03 7.98832024e-05 9.99992894e-01 3.81023585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180888479 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:93.70, Y:39.52, Z:0.38 [[ 7.31778571e-01 -6.81537076e-01 -2.70860713e-03 9.36977964e+01] [ 6.81532036e-01 7.31783580e-01 -2.62203797e-03 3.95234447e+01] [ 3.76913031e-03 7.27486661e-05 9.99992894e-01 3.79734705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:39.54, Z:0.38 [[ 7.31048689e-01 -6.82319910e-01 -2.71182225e-03 9.37181928e+01] [ 6.82314888e-01 7.31053716e-01 -2.61871831e-03 3.95419846e+01] [ 3.76929138e-03 6.40938922e-05 9.99992894e-01 3.79295956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:39.56, Z:0.38 [[ 7.29021484e-01 -6.84485461e-01 -2.70741265e-03 9.37397914e+01] [ 6.84480437e-01 7.29026509e-01 -2.62326935e-03 3.95592691e+01] [ 3.76936533e-03 5.92487247e-05 9.99992894e-01 3.78299765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:39.58, Z:0.38 [[ 7.27771027e-01 -6.85814846e-01 -2.70709113e-03 9.37608323e+01] [ 6.85809830e-01 7.27776060e-01 -2.62360110e-03 3.95776416e+01] [ 3.76946071e-03 5.28311584e-05 9.99992894e-01 3.78712654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:39.60, Z:0.38 [[ 7.25898760e-01 -6.87796239e-01 -2.70635711e-03 9.37825074e+01] [ 6.87791234e-01 7.25903803e-01 -2.62435807e-03 3.95951644e+01] [ 3.76957852e-03 4.36095730e-05 9.99992894e-01 3.79798391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:39.61, Z:0.38 [[ 7.24999067e-01 -6.88744534e-01 -2.70562304e-03 9.38033067e+01] [ 6.88739532e-01 7.25004114e-01 -2.62511464e-03 3.96146261e+01] [ 3.76962120e-03 3.97361140e-05 9.99992894e-01 3.79354690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:39.63, Z:0.38 [[ 7.23911135e-01 -6.89887927e-01 -2.70488931e-03 9.38248086e+01] [ 6.89882931e-01 7.23916187e-01 -2.62587045e-03 3.96330999e+01] [ 3.76966948e-03 3.48398954e-05 9.99992894e-01 3.79715201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.85, Y:39.65, Z:0.38 [[ 7.23483865e-01 -6.90335995e-01 -2.70414989e-03 9.38466665e+01] [ 6.90330998e-01 7.23488917e-01 -2.62663170e-03 3.96525469e+01] [ 3.76968088e-03 3.35671593e-05 9.99992894e-01 3.79578120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:39.67, Z:0.38 [[ 7.23119397e-01 -6.90717754e-01 -2.70598696e-03 9.38671842e+01] [ 6.90712767e-01 7.23124459e-01 -2.62474098e-03 3.96712517e+01] [ 3.76972055e-03 2.89413722e-05 9.99992894e-01 3.79306922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:39.69, Z:0.38 [[ 7.22473151e-01 -6.91393694e-01 -2.70312682e-03 9.38877636e+01] [ 6.91388701e-01 7.22478207e-01 -2.62768324e-03 3.96887690e+01] [ 3.76971384e-03 2.95192501e-05 9.99992894e-01 3.77403880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:39.71, Z:0.38 [[ 7.21808860e-01 -6.92087180e-01 -2.70272645e-03 9.39079047e+01] [ 6.92082190e-01 7.21813920e-01 -2.62809498e-03 3.97082570e+01] [ 3.76973642e-03 2.64733997e-05 9.99992894e-01 3.76947193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:39.73, Z:0.38 [[ 7.21192413e-01 -6.92729531e-01 -2.70199561e-03 9.39273408e+01] [ 6.92724543e-01 7.21197474e-01 -2.62884616e-03 3.97274491e+01] [ 3.76975177e-03 2.41652319e-05 9.99992894e-01 3.76846465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:93.95, Y:39.75, Z:0.38 [[ 7.20562285e-01 -6.93384955e-01 -2.70158962e-03 9.39475271e+01] [ 6.93379970e-01 7.20567349e-01 -2.62926332e-03 3.97469595e+01] [ 3.76976889e-03 2.13198550e-05 9.99992894e-01 3.77669597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:39.76, Z:0.38 [[ 7.17041229e-01 -6.97025524e-01 -2.70086292e-03 9.39633308e+01] [ 6.97020562e-01 7.17046316e-01 -2.63000959e-03 3.97641514e+01] [ 3.76982762e-03 3.26832112e-06 9.99992894e-01 3.77341859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:39.78, Z:0.38 [[ 7.18536007e-01 -6.95484659e-01 -2.66368055e-03 9.39900035e+01] [ 6.95479544e-01 7.18540942e-01 -2.66815328e-03 3.97840454e+01] [ 3.76962320e-03 6.46288731e-05 9.99992893e-01 3.80707003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:39.80, Z:0.38 [[ 7.17963303e-01 -6.96075717e-01 -2.70034349e-03 9.40125650e+01] [ 6.96070746e-01 7.17968381e-01 -2.63051714e-03 3.98016285e+01] [ 3.76980034e-03 8.98467005e-06 9.99992894e-01 3.82427410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:39.82, Z:0.38 [[ 7.15164530e-01 -6.98950933e-01 -2.69959014e-03 9.40258026e+01] [ 6.98945980e-01 7.15169625e-01 -2.63129004e-03 3.98195262e+01] [ 3.76980750e-03 -5.06237855e-06 9.99992894e-01 3.77714355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:39.84, Z:0.38 [[ 7.18752465e-01 -6.95261001e-01 -2.65222959e-03 9.40536566e+01] [ 6.95255841e-01 7.18757354e-01 -2.67981352e-03 3.98400301e+01] [ 3.76947935e-03 8.21444549e-05 9.99992892e-01 3.80162406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:39.86, Z:0.38 [[ 7.19912838e-01 -6.94059235e-01 -2.69905825e-03 9.40726099e+01] [ 6.94054245e-01 7.19917897e-01 -2.63178790e-03 3.98595689e+01] [ 3.76971704e-03 2.13650624e-05 9.99992894e-01 3.78691041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:39.88, Z:0.38 [[ 7.20360445e-01 -6.93594656e-01 -2.69866332e-03 9.40923536e+01] [ 6.93589661e-01 7.20365500e-01 -2.63219281e-03 3.98784368e+01] [ 3.76969881e-03 2.43626056e-05 9.99992894e-01 3.79096055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:39.90, Z:0.38 [[ 7.20533440e-01 -6.93414941e-01 -2.69826871e-03 9.41128610e+01] [ 6.93409944e-01 7.20538492e-01 -2.63259726e-03 3.98972100e+01] [ 3.76968874e-03 2.58680042e-05 9.99992894e-01 3.79404895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:39.91, Z:0.38 [[ 7.21174764e-01 -6.92747921e-01 -2.69757130e-03 9.41350436e+01] [ 6.92742917e-01 7.21179809e-01 -2.63331169e-03 3.99145333e+01] [ 3.76965515e-03 3.03545294e-05 9.99992894e-01 3.81154690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:39.93, Z:0.38 [[ 7.21569880e-01 -6.92336359e-01 -2.69684860e-03 9.41556284e+01] [ 6.92331350e-01 7.21574919e-01 -2.63405162e-03 3.99324430e+01] [ 3.76962802e-03 3.35394818e-05 9.99992894e-01 3.80932927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:39.95, Z:0.38 [[ 7.21797282e-01 -6.92099280e-01 -2.69645744e-03 9.41760568e+01] [ 6.92094267e-01 7.21802318e-01 -2.63445199e-03 3.99510466e+01] [ 3.76961155e-03 3.53375499e-05 9.99992894e-01 3.81659706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:39.97, Z:0.38 [[ 7.22592036e-01 -6.91269472e-01 -2.69574210e-03 9.41967012e+01] [ 6.91264450e-01 7.22597063e-01 -2.63518376e-03 3.99690716e+01] [ 3.76955741e-03 4.06921206e-05 9.99992894e-01 3.83247936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:39.99, Z:0.38 [[ 7.20963760e-01 -6.92967526e-01 -2.69533205e-03 9.42160078e+01] [ 6.92962515e-01 7.20968797e-01 -2.63560311e-03 3.99891735e+01] [ 3.76963767e-03 3.24102520e-05 9.99992894e-01 3.82366834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:40.01, Z:0.39 [[ 7.22400045e-01 -6.91470136e-01 -2.68804495e-03 9.42384459e+01] [ 6.91465087e-01 7.22405044e-01 -2.64305178e-03 4.00079627e+01] [ 3.76944860e-03 5.06514936e-05 9.99992894e-01 3.85272749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:40.03, Z:0.39 [[ 7.22219894e-01 -6.91658271e-01 -2.69445070e-03 9.42584563e+01] [ 6.91653248e-01 7.22224919e-01 -2.63650525e-03 4.00265945e+01] [ 3.76956010e-03 4.05109652e-05 9.99992894e-01 3.85194163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.27, Y:40.04, Z:0.38 [[ 7.20150870e-01 -6.93812271e-01 -2.69403301e-03 9.42739752e+01] [ 6.93807260e-01 7.20155908e-01 -2.63693197e-03 4.00443923e+01] [ 3.76965955e-03 2.98491887e-05 9.99992894e-01 3.81493426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:40.06, Z:0.38 [[ 7.21206792e-01 -6.92714728e-01 -2.65870345e-03 9.42986666e+01] [ 6.92709576e-01 7.21211688e-01 -2.67299321e-03 4.00647997e+01] [ 3.76910976e-03 8.60715181e-05 9.99992893e-01 3.82343615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:40.08, Z:0.38 [[ 7.21045779e-01 -6.92882220e-01 -2.68573071e-03 9.43169696e+01] [ 6.92877172e-01 7.21050779e-01 -2.64538809e-03 4.00825658e+01] [ 3.76949059e-03 4.65644194e-05 9.99992894e-01 3.80105992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:40.10, Z:0.38 [[ 7.21064772e-01 -6.92862525e-01 -2.66752042e-03 9.43365869e+01] [ 6.92857408e-01 7.21069703e-01 -2.66397339e-03 4.01018111e+01] [ 3.76923548e-03 7.26860825e-05 9.99992894e-01 3.80198326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:40.12, Z:0.38 [[ 7.22370809e-01 -6.91500761e-01 -2.66694919e-03 9.43610164e+01] [ 6.91495632e-01 7.22375727e-01 -2.66455630e-03 4.01213807e+01] [ 3.76908207e-03 8.06139756e-05 9.99992894e-01 3.83900361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:40.14, Z:0.38 [[ 7.21043356e-01 -6.92884715e-01 -2.69270108e-03 9.43822084e+01] [ 6.92879694e-01 7.21048382e-01 -2.63827315e-03 4.01414715e+01] [ 3.76958689e-03 3.65914243e-05 9.99992894e-01 3.82098025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:40.16, Z:0.38 [[ 7.18612572e-01 -6.95405426e-01 -2.69538847e-03 9.44017755e+01] [ 6.95400432e-01 7.18617627e-01 -2.63553132e-03 4.01596344e+01] [ 3.76971644e-03 1.95516328e-05 9.99992894e-01 3.80331513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:40.18, Z:0.38 [[ 7.17213526e-01 -6.96848271e-01 -2.69168522e-03 9.44225664e+01] [ 6.96843273e-01 7.17218577e-01 -2.63930805e-03 4.01786449e+01] [ 3.76972390e-03 1.72646965e-05 9.99992894e-01 3.79543043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:40.20, Z:0.38 [[ 7.13893878e-01 -7.00248734e-01 -2.69102065e-03 9.44431749e+01] [ 7.00243757e-01 7.13898950e-01 -2.63998547e-03 4.01969611e+01] [ 3.76976330e-03 2.99054350e-07 9.99992894e-01 3.81043630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:40.22, Z:0.38 [[ 7.10625192e-01 -7.03565631e-01 -2.69059896e-03 9.44581190e+01] [ 7.03560676e-01 7.10630286e-01 -2.64041518e-03 4.02153409e+01] [ 3.76972648e-03 -1.66540818e-05 9.99992894e-01 3.79574941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320888479 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:94.48, Y:40.24, Z:0.38 [[ 7.09494084e-01 -7.04706383e-01 -2.65693098e-03 9.44818338e+01] [ 7.04701308e-01 7.09499058e-01 -2.67455351e-03 4.02371054e+01] [ 3.76986496e-03 2.52371489e-05 9.99992894e-01 3.83687397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:40.26, Z:0.38 [[ 7.05242962e-01 -7.08960650e-01 -2.67617327e-03 9.45005238e+01] [ 7.08955679e-01 7.05248039e-01 -2.65503658e-03 4.02555326e+01] [ 3.76968241e-03 -2.48423728e-05 9.99992894e-01 3.83424559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:40.28, Z:0.39 [[ 7.05557407e-01 -7.08647758e-01 -2.66445919e-03 9.45245560e+01] [ 7.08642740e-01 7.05562438e-01 -2.66694593e-03 4.02763377e+01] [ 3.76986758e-03 -6.46620446e-06 9.99992894e-01 3.86842593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:40.30, Z:0.39 [[ 7.04017759e-01 -7.10177281e-01 -2.68785418e-03 9.45445513e+01] [ 7.10172363e-01 7.04022889e-01 -2.64315531e-03 4.02961884e+01] [ 3.76941972e-03 -4.80114734e-05 9.99992895e-01 3.87103175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:40.32, Z:0.39 [[ 7.03613876e-01 -7.10577436e-01 -2.68711683e-03 9.45683314e+01] [ 7.10572519e-01 7.03619005e-01 -2.64390471e-03 4.03166084e+01] [ 3.76940551e-03 -4.91033357e-05 9.99992895e-01 3.87269760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:40.33, Z:0.39 [[ 7.02042219e-01 -7.12130164e-01 -2.71143935e-03 9.45818246e+01] [ 7.12125353e-01 7.02047450e-01 -2.61918309e-03 4.03349136e+01] [ 3.76875836e-03 -9.21075918e-05 9.99992894e-01 3.85681043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.60, Y:40.36, Z:0.39 [[ 7.03198103e-01 -7.10988957e-01 -2.67025956e-03 9.46012245e+01] [ 7.10983978e-01 7.03203173e-01 -2.66098935e-03 4.03572762e+01] [ 3.76966904e-03 -2.73090962e-05 9.99992894e-01 3.86101912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530888479 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:94.62, Y:40.38, Z:0.39 [[ 7.02939398e-01 -7.11244677e-01 -2.68572116e-03 9.46202964e+01] [ 7.11239759e-01 7.02944527e-01 -2.64529145e-03 4.03790765e+01] [ 3.76936245e-03 -5.07120918e-05 9.99992895e-01 3.85404458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:40.40, Z:0.38 [[ 7.03127491e-01 -7.11058726e-01 -2.68701906e-03 9.46385606e+01] [ 7.11053812e-01 7.03132623e-01 -2.64397400e-03 4.03990033e+01] [ 3.76935155e-03 -5.15643397e-05 9.99992895e-01 3.83984069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:40.42, Z:0.38 [[ 7.03100799e-01 -7.11085128e-01 -2.68467072e-03 9.46573979e+01] [ 7.11080205e-01 7.03105923e-01 -2.64635634e-03 4.04205134e+01] [ 3.76939252e-03 -4.83609467e-05 9.99992895e-01 3.83240446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:40.44, Z:0.38 [[ 7.02900209e-01 -7.11283413e-01 -2.68393069e-03 9.46758678e+01] [ 7.11278489e-01 7.02905331e-01 -2.64710667e-03 4.04406888e+01] [ 3.76939225e-03 -4.83703353e-05 9.99992895e-01 3.82884678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650888479 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:94.69, Y:40.46, Z:0.38 [[ 7.02925026e-01 -7.11258889e-01 -2.68351280e-03 9.46939858e+01] [ 7.11253963e-01 7.02930146e-01 -2.64753024e-03 4.04608747e+01] [ 3.76940146e-03 -4.76438552e-05 9.99992895e-01 3.81551333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:40.48, Z:0.38 [[ 7.03741898e-01 -7.10450665e-01 -2.68206393e-03 9.47129026e+01] [ 7.10445727e-01 7.03747008e-01 -2.64899794e-03 4.04818018e+01] [ 3.76947681e-03 -4.12500190e-05 9.99992895e-01 3.83366269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:40.51, Z:0.38 [[ 7.04400025e-01 -7.09798169e-01 -2.67653471e-03 9.47310015e+01] [ 7.09793206e-01 7.04405110e-01 -2.65459869e-03 4.05050606e+01] [ 3.76959401e-03 -2.98867668e-05 9.99992895e-01 3.84701952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:40.53, Z:0.39 [[ 7.04981304e-01 -7.09220816e-01 -2.68238989e-03 9.47497594e+01] [ 7.09215871e-01 7.04986406e-01 -2.64866897e-03 4.05261967e+01] [ 3.76953957e-03 -3.51313785e-05 9.99992895e-01 3.85344323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:40.55, Z:0.39 [[ 7.05561596e-01 -7.08643523e-01 -2.68165739e-03 9.47683735e+01] [ 7.08638571e-01 7.05566691e-01 -2.64941038e-03 4.05474451e+01] [ 3.76957564e-03 -3.10036515e-05 9.99992895e-01 3.86199024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.800888479 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:94.79, Y:40.57, Z:0.39 [[ 7.07581933e-01 -7.06626224e-01 -2.68091071e-03 9.47850010e+01] [ 7.06621255e-01 7.07587011e-01 -2.65016572e-03 4.05681915e+01] [ 3.76965420e-03 -1.91791082e-05 9.99992895e-01 3.86817392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:40.59, Z:0.39 [[ 7.08254112e-01 -7.05952527e-01 -2.67259095e-03 9.48047482e+01] [ 7.05947521e-01 7.08259155e-01 -2.65857809e-03 4.05896328e+01] [ 3.76971693e-03 -3.76008848e-06 9.99992895e-01 3.87029889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.82, Y:40.61, Z:0.39 [[ 7.10397268e-01 -7.03795808e-01 -2.67994304e-03 9.48220470e+01] [ 7.03790814e-01 7.10402323e-01 -2.65114614e-03 4.06109422e+01] [ 3.76970330e-03 -2.75231462e-06 9.99992895e-01 3.85892443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:40.63, Z:0.39 [[ 7.11000414e-01 -7.03186484e-01 -2.67953230e-03 9.48410425e+01] [ 7.03181485e-01 7.11005463e-01 -2.65156122e-03 4.06323507e+01] [ 3.76970411e-03 1.06362432e-06 9.99992895e-01 3.85729391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:40.65, Z:0.39 [[ 7.14657591e-01 -6.99469336e-01 -2.67880667e-03 9.48687751e+01] [ 6.99464308e-01 7.14662611e-01 -2.65229410e-03 4.06540853e+01] [ 3.76964136e-03 2.17524585e-05 9.99992895e-01 3.87049620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:40.68, Z:0.39 [[ 7.13655256e-01 -7.00491793e-01 -2.72456095e-03 9.48772793e+01] [ 7.00486947e-01 7.13660455e-01 -2.60604119e-03 4.06761695e+01] [ 3.76992187e-03 -4.87043876e-05 9.99992893e-01 3.86392203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:40.70, Z:0.39 [[ 7.14435260e-01 -6.99696425e-01 -2.67792499e-03 9.48948044e+01] [ 6.99691395e-01 7.14440279e-01 -2.65311329e-03 4.06964163e+01] [ 3.76959137e-03 2.17566132e-05 9.99992895e-01 3.86007663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.91, Y:40.72, Z:0.39 [[ 7.15271749e-01 -6.98841295e-01 -2.67751751e-03 9.49137318e+01] [ 6.98836258e-01 7.15276760e-01 -2.65352446e-03 4.07171502e+01] [ 3.76955852e-03 2.68447575e-05 9.99992895e-01 3.85764827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:40.74, Z:0.39 [[ 7.16123222e-01 -6.97968742e-01 -2.67676867e-03 9.49314281e+01] [ 6.97963696e-01 7.16128224e-01 -2.65427965e-03 4.07377759e+01] [ 3.76951382e-03 3.25039444e-05 9.99992895e-01 3.86183000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.95, Y:40.76, Z:0.39 [[ 7.15895648e-01 -6.98202161e-01 -2.67626157e-03 9.49497194e+01] [ 6.98197115e-01 7.15900650e-01 -2.65479084e-03 4.07581047e+01] [ 3.76951810e-03 3.19951041e-05 9.99992895e-01 3.86306467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:40.78, Z:0.39 [[ 7.13807982e-01 -7.00336351e-01 -2.67584978e-03 9.49677325e+01] [ 7.00331318e-01 7.13812998e-01 -2.65520584e-03 4.07799421e+01] [ 3.76959352e-03 2.13257266e-05 9.99992895e-01 3.87302969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13088847899999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:94.99, Y:40.80, Z:0.39 [[ 7.12430346e-01 -7.01737733e-01 -2.67507911e-03 9.49862585e+01] [ 7.01732707e-01 7.12435369e-01 -2.65598205e-03 4.07998410e+01] [ 3.76962379e-03 1.50117059e-05 9.99992895e-01 3.87272313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.160888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.01, Y:40.82, Z:0.39 [[ 7.10595905e-01 -7.03595271e-01 -2.67474541e-03 9.50057345e+01] [ 7.03590256e-01 7.10600939e-01 -2.65631806e-03 4.08207618e+01] [ 3.76964943e-03 5.64392462e-06 9.99992895e-01 3.87545151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:40.84, Z:0.39 [[ 7.08963651e-01 -7.05239953e-01 -2.67398864e-03 9.50249764e+01] [ 7.05234948e-01 7.08968693e-01 -2.65707965e-03 4.08410815e+01] [ 3.76965296e-03 -2.01734869e-06 9.99992895e-01 3.87248403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.220888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:95.04, Y:40.86, Z:0.39 [[ 7.06103785e-01 -7.08103311e-01 -2.67323351e-03 9.50440903e+01] [ 7.08098323e-01 7.06108845e-01 -2.65783915e-03 4.08598394e+01] [ 3.76961853e-03 -1.62018839e-05 9.99992895e-01 3.88128303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.06, Y:40.88, Z:0.39 [[ 7.04389409e-01 -7.09808719e-01 -2.67272017e-03 9.50632484e+01] [ 7.09803741e-01 7.04394479e-01 -2.65835527e-03 4.08800785e+01] [ 3.76957308e-03 -2.45894761e-05 9.99992895e-01 3.88445511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:95.08, Y:40.90, Z:0.39 [[ 7.01701246e-01 -7.12466295e-01 -2.67197542e-03 9.50798354e+01] [ 7.12461334e-01 7.01706332e-01 -2.65910362e-03 4.09012246e+01] [ 3.76946378e-03 -3.77828519e-05 9.99992895e-01 3.86948893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:95.10, Y:40.92, Z:0.39 [[ 7.00500833e-01 -7.13646583e-01 -2.67157026e-03 9.50985989e+01] [ 7.13641629e-01 7.00505926e-01 -2.65951062e-03 4.09226038e+01] [ 3.76940147e-03 -4.35543481e-05 9.99992895e-01 3.86318110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340888479 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:95.12, Y:40.94, Z:0.39 [[ 6.99749011e-01 -7.14383782e-01 -2.67083477e-03 9.51171793e+01] [ 7.14378830e-01 6.99754107e-01 -2.66024904e-03 4.09429830e+01] [ 3.76936637e-03 -4.64811886e-05 9.99992895e-01 3.85910958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:95.14, Y:40.96, Z:0.39 [[ 6.98948105e-01 -7.15167404e-01 -2.67042706e-03 9.51352560e+01] [ 7.15162456e-01 6.98953205e-01 -2.66065824e-03 4.09643091e+01] [ 3.76931960e-03 -5.01271388e-05 9.99992895e-01 3.88390699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:95.16, Y:40.99, Z:0.39 [[ 7.00161692e-01 -7.13979326e-01 -2.66966783e-03 9.51571511e+01] [ 7.13974367e-01 7.00166780e-01 -2.66141983e-03 4.09860862e+01] [ 3.76941146e-03 -4.26501887e-05 9.99992895e-01 3.90166852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:95.17, Y:41.01, Z:0.39 [[ 7.00269829e-01 -7.13873207e-01 -2.68530087e-03 9.51700430e+01] [ 7.13868307e-01 7.00274975e-01 -2.64573666e-03 4.10105390e+01] [ 3.76916951e-03 -6.42216323e-05 9.99992895e-01 3.88188620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:95.19, Y:41.03, Z:0.39 [[ 7.00956043e-01 -7.13199483e-01 -2.66881125e-03 9.51880150e+01] [ 7.13194515e-01 7.00961123e-01 -2.66226682e-03 4.10317998e+01] [ 3.76946025e-03 -3.72495307e-05 9.99992895e-01 3.88114291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49088847899999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:95.21, Y:41.05, Z:0.39 [[ 7.02069726e-01 -7.12103210e-01 -2.66806113e-03 9.52070197e+01] [ 7.12098231e-01 7.02074795e-01 -2.66301836e-03 4.10531142e+01] [ 3.76952239e-03 -3.02970422e-05 9.99992895e-01 3.88783340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52088847899999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:95.22, Y:41.07, Z:0.39 [[ 7.02702500e-01 -7.11478800e-01 -2.66730057e-03 9.52248042e+01] [ 7.11473814e-01 7.02707561e-01 -2.66377992e-03 4.10733662e+01] [ 3.76955522e-03 -2.58696956e-05 9.99992895e-01 3.89068081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.550888479 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:95.24, Y:41.10, Z:0.39 [[ 7.04472630e-01 -7.09726146e-01 -2.66678418e-03 9.52415321e+01] [ 7.09721145e-01 7.04477677e-01 -2.66429679e-03 4.10951640e+01] [ 3.76961102e-03 -1.57489590e-05 9.99992895e-01 3.90055908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.580888479 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:95.26, Y:41.12, Z:0.39 [[ 7.05107734e-01 -7.09095180e-01 -2.66645865e-03 9.52599762e+01] [ 7.09090173e-01 7.05112775e-01 -2.66462255e-03 4.11167891e+01] [ 3.76962506e-03 -1.19136560e-05 9.99992895e-01 3.90789469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610888479 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:95.28, Y:41.14, Z:0.39 [[ 7.07184923e-01 -7.07023605e-01 -2.66570712e-03 9.52758847e+01] [ 7.07018581e-01 7.07189947e-01 -2.66537417e-03 4.11402441e+01] [ 3.76964373e-03 2.07958149e-07 9.99992895e-01 3.91384770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640888479 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:95.29, Y:41.16, Z:0.39 [[ 7.08443629e-01 -7.05762370e-01 -2.66495456e-03 9.52937775e+01] [ 7.05757334e-01 7.08448641e-01 -2.66612640e-03 4.11617870e+01] [ 3.76963512e-03 7.98903572e-06 9.99992895e-01 3.91137822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670888479 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:95.31, Y:41.18, Z:0.39 [[ 7.09815893e-01 -7.04382212e-01 -2.66420664e-03 9.53117470e+01] [ 7.04377163e-01 7.09820893e-01 -2.66687357e-03 4.11823001e+01] [ 3.76960784e-03 1.63829279e-05 9.99992895e-01 3.90712147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700888479 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:95.33, Y:41.20, Z:0.39 [[ 7.10814637e-01 -7.03374335e-01 -2.66388252e-03 9.53309260e+01] [ 7.03369278e-01 7.10819629e-01 -2.66719729e-03 4.12028835e+01] [ 3.76957810e-03 2.21897510e-05 9.99992895e-01 3.90189166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730888479 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:95.35, Y:41.22, Z:0.39 [[ 7.13058519e-01 -7.01099466e-01 -2.66233372e-03 9.53509229e+01] [ 7.01094387e-01 7.13063488e-01 -2.66874344e-03 4.12242463e+01] [ 3.76946757e-03 3.64230159e-05 9.99992895e-01 3.90611529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760888479 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:95.37, Y:41.24, Z:0.39 [[ 7.13535094e-01 -7.00614429e-01 -2.66296657e-03 9.53695373e+01] [ 7.00609349e-01 7.13540063e-01 -2.66811182e-03 4.12438707e+01] [ 3.76945097e-03 3.80921415e-05 9.99992895e-01 3.90663337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790888479 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:95.39, Y:41.26, Z:0.39 [[ 7.13686133e-01 -7.00460573e-01 -2.66263513e-03 9.53888532e+01] [ 7.00455491e-01 7.13691099e-01 -2.66844254e-03 4.12646134e+01] [ 3.76943778e-03 3.93730427e-05 9.99992895e-01 3.90411662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820888479 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:95.41, Y:41.29, Z:0.39 [[ 7.14542472e-01 -6.99587000e-01 -2.66188510e-03 9.54071307e+01] [ 6.99581909e-01 7.14547429e-01 -2.66919051e-03 4.12857299e+01] [ 3.76937414e-03 4.50433265e-05 9.99992895e-01 3.88684254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85088847899999 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:95.43, Y:41.30, Z:0.39 [[ 7.16594602e-01 -6.97484835e-01 -2.66113550e-03 9.54272795e+01] [ 6.97479727e-01 7.16599541e-01 -2.66993764e-03 4.13045582e+01] [ 3.76920949e-03 5.71748346e-05 9.99992895e-01 3.89947515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88088847899999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:95.45, Y:41.32, Z:0.39 [[ 7.15963022e-01 -6.98133168e-01 -2.65170653e-03 9.54473716e+01] [ 6.98128030e-01 7.15967929e-01 -2.67932958e-03 4.13245632e+01] [ 3.76906568e-03 6.70702494e-05 9.99992895e-01 3.89338841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.910888479 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:95.47, Y:41.34, Z:0.39 [[ 7.15975918e-01 -6.98119911e-01 -2.65983037e-03 9.54681245e+01] [ 6.98114803e-01 7.15980857e-01 -2.67124044e-03 4.13442054e+01] [ 3.76923377e-03 5.56768734e-05 9.99992895e-01 3.89131192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.940888479 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:95.49, Y:41.36, Z:0.39 [[ 7.15994103e-01 -6.98101263e-01 -2.65908520e-03 9.54884961e+01] [ 6.98096152e-01 7.15999039e-01 -2.67198202e-03 4.13632759e+01] [ 3.76921647e-03 5.68262297e-05 9.99992895e-01 3.88816961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.970888479 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:95.51, Y:41.38, Z:0.39 [[ 7.18144948e-01 -6.95888473e-01 -2.65834510e-03 9.55108518e+01] [ 6.95883344e-01 7.18149864e-01 -2.67271814e-03 4.13809118e+01] [ 3.76900392e-03 6.95009460e-05 9.99992895e-01 3.89302665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000888479 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:95.53, Y:41.40, Z:0.39 [[ 7.18019792e-01 -6.96017618e-01 -2.65597932e-03 9.55301975e+01] [ 6.96012481e-01 7.18024701e-01 -2.67506999e-03 4.14005349e+01] [ 3.76895460e-03 7.21584472e-05 9.99992895e-01 3.89405349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030888479 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:95.55, Y:41.42, Z:0.39 [[ 7.16493368e-01 -6.97588848e-01 -2.65546272e-03 9.55489737e+01] [ 6.97583720e-01 7.16498286e-01 -2.67558336e-03 4.14210380e+01] [ 3.76909160e-03 6.46301747e-05 9.99992895e-01 3.88060963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060888479 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:95.57, Y:41.44, Z:0.39 [[ 7.17680560e-01 -6.96367400e-01 -2.65672745e-03 9.55697905e+01] [ 6.96362268e-01 7.17685474e-01 -2.67432695e-03 4.14382231e+01] [ 3.76900880e-03 6.92677076e-05 9.99992895e-01 3.86962107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090888479 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:95.59, Y:41.46, Z:0.39 [[ 7.18412369e-01 -6.95612401e-01 -2.65639792e-03 9.55910862e+01] [ 6.95607263e-01 7.18417276e-01 -2.67465423e-03 4.14569621e+01] [ 3.76892481e-03 7.36949994e-05 9.99992895e-01 3.86019420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120888479 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:95.61, Y:41.48, Z:0.39 [[ 7.19126175e-01 -6.94874443e-01 -2.65565413e-03 9.56127361e+01] [ 6.94869297e-01 7.19131074e-01 -2.67539253e-03 4.14758240e+01] [ 3.76882531e-03 7.86122743e-05 9.99992895e-01 3.85508653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150888479 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:95.63, Y:41.49, Z:0.38 [[ 7.19375492e-01 -6.94616315e-01 -2.66008078e-03 9.56306713e+01] [ 6.94611184e-01 7.19380406e-01 -2.67100077e-03 4.14933661e+01] [ 3.76893071e-03 7.37306308e-05 9.99992895e-01 3.82996482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180888479 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:95.65, Y:41.51, Z:0.38 [[ 7.20936117e-01 -6.92996512e-01 -2.63607181e-03 9.56539595e+01] [ 6.92991282e-01 7.20940927e-01 -2.69479932e-03 4.15129616e+01] [ 3.76793858e-03 1.16003378e-04 9.99992895e-01 3.83799845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21088847899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:95.68, Y:41.53, Z:0.38 [[ 7.20831393e-01 -6.93105373e-01 -2.65399939e-03 9.56750584e+01] [ 6.93100209e-01 7.20836274e-01 -2.67702594e-03 4.15317094e+01] [ 3.76856010e-03 9.01968033e-05 9.99992895e-01 3.83882471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24088847899999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:95.70, Y:41.55, Z:0.38 [[ 7.19596842e-01 -6.94387029e-01 -2.65325986e-03 9.56984711e+01] [ 6.94381871e-01 7.19601728e-01 -2.67775871e-03 4.15484707e+01] [ 3.76869129e-03 8.45311635e-05 9.99992895e-01 3.84165719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27088847899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:95.72, Y:41.57, Z:0.39 [[ 7.18623299e-01 -6.95394516e-01 -2.64981398e-03 9.57199489e+01] [ 6.95389353e-01 7.18628179e-01 -2.68117171e-03 4.15662445e+01] [ 3.76870310e-03 8.41000319e-05 9.99992895e-01 3.85329512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.300888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:95.74, Y:41.58, Z:0.39 [[ 7.16839042e-01 -6.97233643e-01 -2.65222548e-03 9.57416436e+01] [ 6.97228501e-01 7.16843945e-01 -2.67878412e-03 4.15832424e+01] [ 3.76897018e-03 7.10498505e-05 9.99992895e-01 3.85230091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.330888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:95.76, Y:41.60, Z:0.39 [[ 7.14580683e-01 -6.99548008e-01 -2.65189716e-03 9.57636846e+01] [ 6.99542880e-01 7.14585601e-01 -2.67910910e-03 4.16006768e+01] [ 3.76917296e-03 5.93238353e-05 9.99992895e-01 3.85724188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.79, Y:41.62, Z:0.39 [[ 7.10209731e-01 -7.03985163e-01 -2.65113802e-03 9.57869300e+01] [ 7.03980063e-01 7.10214678e-01 -2.67986010e-03 4.16156446e+01] [ 3.76945889e-03 3.69144064e-05 9.99992895e-01 3.86612195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.81, Y:41.63, Z:0.39 [[ 7.06782629e-01 -7.07425818e-01 -2.65080930e-03 9.58099522e+01] [ 7.07420741e-01 7.06787600e-01 -2.68018522e-03 4.16319086e+01] [ 3.76959137e-03 1.90708724e-05 9.99992895e-01 3.86563890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.83, Y:41.65, Z:0.39 [[ 7.05768013e-01 -7.08438063e-01 -2.65006872e-03 9.58317300e+01] [ 7.08432990e-01 7.05772989e-01 -2.68091728e-03 4.16502874e+01] [ 3.76961076e-03 1.47095578e-05 9.99992895e-01 3.86851559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.85, Y:41.67, Z:0.39 [[ 7.04213301e-01 -7.09983526e-01 -2.64931921e-03 9.58532720e+01] [ 7.09978462e-01 7.04218285e-01 -2.68165775e-03 4.16689813e+01] [ 3.76963186e-03 7.49947706e-06 9.99992895e-01 3.86986864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.87, Y:41.68, Z:0.39 [[ 7.02721421e-01 -7.11460149e-01 -2.65703459e-03 9.58745695e+01] [ 7.11455124e-01 7.02726445e-01 -2.67403760e-03 4.16847350e+01] [ 3.76963965e-03 -1.12573712e-05 9.99992895e-01 3.89919067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:41.71, Z:0.39 [[ 7.01900372e-01 -7.12270212e-01 -2.64817402e-03 9.58968010e+01] [ 7.12265160e-01 7.01905367e-01 -2.68278386e-03 4.17050941e+01] [ 3.76963458e-03 -3.15510371e-06 9.99992895e-01 3.90084642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540888479 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:95.92, Y:41.72, Z:0.39 [[ 7.00878226e-01 -7.13276002e-01 -2.65661281e-03 9.59181936e+01] [ 7.13270988e-01 7.00883260e-01 -2.67445311e-03 4.17247961e+01] [ 3.76959867e-03 -2.04188913e-05 9.99992895e-01 3.90873211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:41.74, Z:0.39 [[ 7.01090000e-01 -7.13067836e-01 -2.65962465e-03 9.59384554e+01] [ 7.13062832e-01 7.01095044e-01 -2.67148181e-03 4.17429630e+01] [ 3.76959741e-03 -2.35302988e-05 9.99992895e-01 3.89826914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60088847899999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:95.96, Y:41.76, Z:0.39 [[ 7.00256698e-01 -7.13886218e-01 -2.65027334e-03 9.59607003e+01] [ 7.13881185e-01 7.00261713e-01 -2.68070035e-03 4.17620274e+01] [ 3.76959998e-03 -1.48018954e-05 9.99992895e-01 3.89446054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63088847899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:95.98, Y:41.78, Z:0.39 [[ 7.00438600e-01 -7.13707675e-01 -2.66864016e-03 9.59804937e+01] [ 7.13702710e-01 7.00443683e-01 -2.66258994e-03 4.17807103e+01] [ 3.76954301e-03 -3.96349420e-05 9.99992894e-01 3.88429804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.660888479 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:96.00, Y:41.80, Z:0.39 [[ 6.99866240e-01 -7.14268996e-01 -2.65475648e-03 9.60007591e+01] [ 7.14263983e-01 6.99871274e-01 -2.67626913e-03 4.18002841e+01] [ 3.76956387e-03 -2.31665265e-05 9.99992895e-01 3.86807406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.690888479 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:96.02, Y:41.82, Z:0.39 [[ 6.99935773e-01 -7.14200829e-01 -2.66245379e-03 9.60215894e+01] [ 7.14195844e-01 6.99940836e-01 -2.66868617e-03 4.18180729e+01] [ 3.76953800e-03 -3.36045123e-05 9.99992895e-01 3.85665086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.720888479 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:96.04, Y:41.84, Z:0.39 [[ 6.99485145e-01 -7.14642228e-01 -2.64914672e-03 9.60407967e+01] [ 7.14637196e-01 6.99490161e-01 -2.68178537e-03 4.18364981e+01] [ 3.76956914e-03 -1.73097598e-05 9.99992895e-01 3.85456616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:41.86, Z:0.39 [[ 6.98674736e-01 -7.15434564e-01 -2.64549687e-03 9.60621245e+01] [ 7.15429524e-01 6.98679744e-01 -2.68537657e-03 4.18570904e+01] [ 3.76956629e-03 -1.64618018e-05 9.99992895e-01 3.86154428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:41.87, Z:0.39 [[ 6.99816162e-01 -7.14318070e-01 -2.65204865e-03 9.60805784e+01] [ 7.14313047e-01 6.99821187e-01 -2.67893769e-03 4.18747776e+01] [ 3.76957344e-03 -1.96290590e-05 9.99992895e-01 3.86621388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810888479 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:96.10, Y:41.90, Z:0.39 [[ 6.97733967e-01 -7.16352116e-01 -2.63746031e-03 9.61017475e+01] [ 7.16347054e-01 6.97738952e-01 -2.69325852e-03 4.18972958e+01] [ 3.76958023e-03 -1.01589744e-05 9.99992895e-01 3.87113593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840888479 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:96.12, Y:41.92, Z:0.39 [[ 6.98830866e-01 -7.15282014e-01 -2.65723955e-03 9.61213245e+01] [ 7.15277017e-01 6.98835917e-01 -2.67384177e-03 4.19163813e+01] [ 3.76952536e-03 -3.20992239e-05 9.99992895e-01 3.86995388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870888479 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:96.14, Y:41.94, Z:0.39 [[ 6.98901300e-01 -7.15213232e-01 -2.64686591e-03 9.61406514e+01] [ 7.15208196e-01 6.98906312e-01 -2.68401642e-03 4.19373904e+01] [ 3.76955535e-03 -1.71976321e-05 9.99992895e-01 3.86215217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900888479 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:96.16, Y:41.96, Z:0.39 [[ 6.98386948e-01 -7.15715462e-01 -2.65489345e-03 9.61610938e+01] [ 7.15710460e-01 6.98391993e-01 -2.67614532e-03 4.19604398e+01] [ 3.76951491e-03 -3.11500524e-05 9.99992895e-01 3.87101178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:41.98, Z:0.39 [[ 7.00609552e-01 -7.13539852e-01 -2.67116316e-03 9.61782042e+01] [ 7.13534894e-01 7.00614643e-01 -2.66019025e-03 4.19788048e+01] [ 3.76960778e-03 -4.22134222e-05 9.99992894e-01 3.86805059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:42.00, Z:0.39 [[ 7.01473078e-01 -7.12691039e-01 -2.64652509e-03 9.61967927e+01] [ 7.12685984e-01 7.01478070e-01 -2.68426186e-03 4.19981117e+01] [ 3.76952869e-03 -3.20391124e-06 9.99992895e-01 3.86387355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:42.02, Z:0.39 [[ 7.01374204e-01 -7.12788391e-01 -2.63337144e-03 9.62157824e+01] [ 7.12783289e-01 7.01379148e-01 -2.69710468e-03 4.20174331e+01] [ 3.76945673e-03 1.46564944e-05 9.99992895e-01 3.88630138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:42.04, Z:0.38 [[ 7.00530900e-01 -7.13617216e-01 -2.63183824e-03 9.62358968e+01] [ 7.13612114e-01 7.00535844e-01 -2.69860081e-03 4.20378289e+01] [ 3.76946502e-03 1.23416062e-05 9.99992895e-01 3.84105369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:42.06, Z:0.38 [[ 7.00393852e-01 -7.13751725e-01 -2.63180390e-03 9.62545456e+01] [ 7.13746624e-01 7.00398797e-01 -2.69863430e-03 4.20571963e+01] [ 3.76946717e-03 1.16657286e-05 9.99992895e-01 3.84767761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:42.08, Z:0.38 [[ 6.99711305e-01 -7.14420878e-01 -2.62642792e-03 9.62745484e+01] [ 7.14415762e-01 6.99716234e-01 -2.70387458e-03 4.20776482e+01] [ 3.76945871e-03 1.55701087e-05 9.99992895e-01 3.84447310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:42.10, Z:0.39 [[ 6.99199775e-01 -7.14921503e-01 -2.63051283e-03 9.62931063e+01] [ 7.14916405e-01 6.99204723e-01 -2.69989465e-03 4.20969239e+01] [ 3.76947974e-03 7.16896104e-06 9.99992895e-01 3.86727604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140888479 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:96.31, Y:42.12, Z:0.39 [[ 6.98926767e-01 -7.15188408e-01 -2.62967029e-03 9.63114880e+01] [ 7.15183309e-01 6.98931714e-01 -2.70071503e-03 4.21171796e+01] [ 3.76948004e-03 6.90572332e-06 9.99992895e-01 3.86775789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170888479 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:96.33, Y:42.14, Z:0.39 [[ 6.99272037e-01 -7.14850829e-01 -2.62880511e-03 9.63299719e+01] [ 7.14845724e-01 6.99276978e-01 -2.70155691e-03 4.21363688e+01] [ 3.76947309e-03 9.93311305e-06 9.99992895e-01 3.87621550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:42.16, Z:0.38 [[ 6.99042614e-01 -7.15075188e-01 -2.62656357e-03 9.63491233e+01] [ 7.15070077e-01 6.99047548e-01 -2.70373700e-03 4.21581744e+01] [ 3.76946807e-03 1.18503631e-05 9.99992895e-01 3.83260213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.37, Y:42.18, Z:0.38 [[ 6.96932977e-01 -7.17131452e-01 -2.62777361e-03 9.63673340e+01] [ 7.17126360e-01 6.96937931e-01 -2.70256044e-03 4.21782609e+01] [ 3.76948620e-03 -9.42233991e-07 9.99992895e-01 3.81816464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260888479 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:96.39, Y:42.20, Z:0.38 [[ 6.97617763e-01 -7.16465319e-01 -2.62738743e-03 9.63883999e+01] [ 7.16460220e-01 6.97622711e-01 -2.70293582e-03 4.21984900e+01] [ 3.76948492e-03 3.19746305e-06 9.99992895e-01 3.83092823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290888479 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:96.41, Y:42.22, Z:0.38 [[ 6.96287300e-01 -7.17758365e-01 -2.63142741e-03 9.64082937e+01] [ 7.17753291e-01 6.96292273e-01 -2.69901040e-03 4.22187377e+01] [ 3.76947987e-03 -9.42901668e-06 9.99992895e-01 3.83189239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320888479 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:96.43, Y:42.24, Z:0.38 [[ 6.94712748e-01 -7.19282440e-01 -2.63996089e-03 9.64263564e+01] [ 7.19277408e-01 6.94717764e-01 -2.69072159e-03 4.22392417e+01] [ 3.76941651e-03 -2.95856398e-05 9.99992895e-01 3.81163558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:42.26, Z:0.38 [[ 6.93175704e-01 -7.20763824e-01 -2.63707645e-03 9.64427592e+01] [ 7.20758791e-01 6.93180719e-01 -2.69352210e-03 4.22575160e+01] [ 3.76936384e-03 -3.36119593e-05 9.99992895e-01 3.81477667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38088847899999 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:96.47, Y:42.28, Z:0.38 [[ 6.93137578e-01 -7.20800556e-01 -2.61841028e-03 9.64658725e+01] [ 7.20795456e-01 6.93142524e-01 -2.71162994e-03 4.22793670e+01] [ 3.76947588e-03 -7.80562145e-06 9.99992895e-01 3.83352074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.410888479 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:96.49, Y:42.30, Z:0.38 [[ 6.92567817e-01 -7.21347942e-01 -2.63920391e-03 9.64867169e+01] [ 7.21342922e-01 6.92572844e-01 -2.69147071e-03 4.23003857e+01] [ 3.76932781e-03 -3.97450661e-05 9.99992895e-01 3.84370894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.440888479 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:96.51, Y:42.32, Z:0.38 [[ 6.93284573e-01 -7.20659075e-01 -2.64551641e-03 9.65051872e+01] [ 7.20654073e-01 6.93289619e-01 -2.68535081e-03 4.23188895e+01] [ 3.76933150e-03 -4.47898841e-05 9.99992895e-01 3.84232487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:42.34, Z:0.38 [[ 6.93386975e-01 -7.20560607e-01 -2.62948243e-03 9.65238826e+01] [ 7.20555546e-01 6.93391960e-01 -2.70088014e-03 4.23404280e+01] [ 3.76940981e-03 -2.19330427e-05 9.99992896e-01 3.83532239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500888479 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:96.54, Y:42.36, Z:0.38 [[ 6.93971755e-01 -7.19997422e-01 -2.62965713e-03 9.65432854e+01] [ 7.19992357e-01 6.93976737e-01 -2.70071110e-03 4.23626584e+01] [ 3.76942590e-03 -1.91158107e-05 9.99992896e-01 3.80708076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530888479 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:96.56, Y:42.38, Z:0.38 [[ 6.94922781e-01 -7.19079524e-01 -2.63941140e-03 9.65623678e+01] [ 7.19074488e-01 6.94927793e-01 -2.69127608e-03 4.23833500e+01] [ 3.76944186e-03 -2.77043463e-05 9.99992895e-01 3.80113800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560888479 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:96.58, Y:42.40, Z:0.38 [[ 6.95034767e-01 -7.18971294e-01 -2.63638401e-03 9.65816988e+01] [ 7.18966247e-01 6.95039767e-01 -2.69420237e-03 4.24037297e+01] [ 3.76944589e-03 -2.29068002e-05 9.99992895e-01 3.80712430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:42.42, Z:0.38 [[ 6.95860067e-01 -7.18172552e-01 -2.63690490e-03 9.66003147e+01] [ 7.18167501e-01 6.95865062e-01 -2.69369918e-03 4.24224229e+01] [ 3.76947081e-03 -1.93017079e-05 9.99992895e-01 3.80845750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:42.44, Z:0.38 [[ 6.95461227e-01 -7.18558856e-01 -2.61761332e-03 9.66196848e+01] [ 7.18553737e-01 6.95466153e-01 -2.71231717e-03 4.24431118e+01] [ 3.76942099e-03 5.41558803e-06 9.99992896e-01 3.81262249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:42.46, Z:0.38 [[ 6.95145087e-01 -7.18864702e-01 -2.61685688e-03 9.66419140e+01] [ 7.18859582e-01 6.95150013e-01 -2.71304679e-03 4.24640607e+01] [ 3.76942167e-03 4.80850629e-06 9.99992896e-01 3.83912982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680888479 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:96.66, Y:42.49, Z:0.38 [[ 6.93495244e-01 -7.20456414e-01 -2.62719513e-03 9.66624056e+01] [ 7.20451343e-01 6.93500220e-01 -2.70306342e-03 4.24856353e+01] [ 3.76939978e-03 -1.82046330e-05 9.99992896e-01 3.80997633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71088847899999 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:96.68, Y:42.51, Z:0.38 [[ 6.93054472e-01 -7.20880376e-01 -2.64243256e-03 9.66812749e+01] [ 7.20875364e-01 6.93059508e-01 -2.68835156e-03 4.25050414e+01] [ 3.76934289e-03 -4.16904587e-05 9.99992895e-01 3.80353113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74088847899999 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:96.70, Y:42.53, Z:0.38 [[ 6.92777462e-01 -7.21146615e-01 -2.63598239e-03 9.67006359e+01] [ 7.21141581e-01 6.92782476e-01 -2.69457340e-03 4.25260134e+01] [ 3.76934489e-03 -3.41767844e-05 9.99992895e-01 3.80077652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77088847899999 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:96.72, Y:42.55, Z:0.38 [[ 6.91646097e-01 -7.22231783e-01 -2.63195005e-03 9.67205235e+01] [ 7.22226743e-01 6.91651104e-01 -2.69846127e-03 4.25488643e+01] [ 3.76930565e-03 -3.44845064e-05 9.99992896e-01 3.79408242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.800888479 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:96.74, Y:42.57, Z:0.38 [[ 6.92937746e-01 -7.20992529e-01 -2.65585999e-03 9.67384074e+01] [ 7.20987568e-01 6.92942832e-01 -2.67539740e-03 4.25665198e+01] [ 3.76930069e-03 -6.09581916e-05 9.99992894e-01 3.81049048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.830888479 meters Centerline goodness : 0.997042 Centerline is valid? [True, True] Translation: X:96.76, Y:42.59, Z:0.38 [[ 6.93901925e-01 -7.20064703e-01 -2.63476678e-03 9.67570854e+01] [ 7.20059658e-01 6.93906926e-01 -2.69570750e-03 4.25859114e+01] [ 3.76936674e-03 -2.66326405e-05 9.99992896e-01 3.81208477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860888479 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:96.78, Y:42.61, Z:0.38 [[ 6.92363503e-01 -7.21544127e-01 -2.61768371e-03 9.67768507e+01] [ 7.21539030e-01 6.92368451e-01 -2.71213835e-03 4.26083790e+01] [ 3.76932911e-03 -1.09753616e-05 9.99992896e-01 3.80455984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:42.63, Z:0.38 [[ 6.93540297e-01 -7.20413019e-01 -2.63403506e-03 9.67975402e+01] [ 7.20407973e-01 6.93545299e-01 -2.69645291e-03 4.26279850e+01] [ 3.76938241e-03 -2.74811070e-05 9.99992895e-01 3.81670217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:42.65, Z:0.38 [[ 6.93323029e-01 -7.20622171e-01 -2.61990385e-03 9.68165439e+01] [ 7.20617075e-01 6.93327979e-01 -2.70996151e-03 4.26480209e+01] [ 3.76931099e-03 -9.06872842e-06 9.99992896e-01 3.81766142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950888479 meters Centerline goodness : 0.996892 Centerline is valid? [True, True] Translation: X:96.83, Y:42.67, Z:0.38 [[ 6.92911949e-01 -7.21017454e-01 -2.61944273e-03 9.68340075e+01] [ 7.21012360e-01 6.92916901e-01 -2.71040306e-03 4.26684483e+01] [ 3.76930405e-03 -1.05799176e-05 9.99992896e-01 3.80849501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980888479 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:96.85, Y:42.69, Z:0.38 [[ 6.92039778e-01 -7.21854606e-01 -2.62161158e-03 9.68525807e+01] [ 7.21849526e-01 6.92044744e-01 -2.70832572e-03 4.26901125e+01] [ 3.76928991e-03 -1.81399414e-05 9.99992896e-01 3.81175152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010888479 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:96.87, Y:42.71, Z:0.38 [[ 6.91323770e-01 -7.22540371e-01 -2.61890859e-03 9.68702541e+01] [ 7.22535285e-01 6.91328730e-01 -2.71091288e-03 4.27100801e+01] [ 3.76927075e-03 -1.81353585e-05 9.99992896e-01 3.80671244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040888479 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:96.89, Y:42.73, Z:0.38 [[ 6.91702910e-01 -7.22177427e-01 -2.61673797e-03 9.68878939e+01] [ 7.22172331e-01 6.91707860e-01 -2.71298877e-03 4.27291843e+01] [ 3.76927747e-03 -1.31535271e-05 9.99992896e-01 3.80436039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070888479 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:96.91, Y:42.75, Z:0.38 [[ 6.90443538e-01 -7.23381619e-01 -2.59890090e-03 9.69072999e+01] [ 7.23376467e-01 6.90448429e-01 -2.73003007e-03 4.27510996e+01] [ 3.76926061e-03 4.94786657e-06 9.99992896e-01 3.80035561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:42.77, Z:0.38 [[ 6.90707129e-01 -7.23129887e-01 -2.61309886e-03 9.69255492e+01] [ 7.23124785e-01 6.90712071e-01 -2.71647172e-03 4.27702942e+01] [ 3.76926081e-03 -1.33101706e-05 9.99992896e-01 3.81423662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:42.79, Z:0.38 [[ 6.90525804e-01 -7.23303079e-01 -2.60187216e-03 9.69446660e+01] [ 7.23297937e-01 6.90530706e-01 -2.72718256e-03 4.27912386e+01] [ 3.76925216e-03 1.26116419e-06 9.99992896e-01 3.81880456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:42.81, Z:0.39 [[ 6.88182879e-01 -7.25532604e-01 -2.60110935e-03 9.69564848e+01] [ 7.25527476e-01 6.88187794e-01 -2.72790991e-03 4.28103648e+01] [ 3.76923929e-03 -9.87541095e-06 9.99992896e-01 3.86341382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:42.84, Z:0.38 [[ 6.90918268e-01 -7.22928346e-01 -2.56001164e-03 9.69803695e+01] [ 7.22923053e-01 6.90923008e-01 -2.76706088e-03 4.28353234e+01] [ 3.76915769e-03 6.11214854e-05 9.99992895e-01 3.79016131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:42.86, Z:0.38 [[ 6.89976721e-01 -7.23826886e-01 -2.60077899e-03 9.70006690e+01] [ 7.23821744e-01 6.89981623e-01 -2.72819755e-03 4.28585045e+01] [ 3.76923244e-03 -1.07584286e-07 9.99992896e-01 3.78341650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:42.88, Z:0.38 [[ 6.91277104e-01 -7.22585019e-01 -2.61838273e-03 9.70175928e+01] [ 7.22579932e-01 6.91282062e-01 -2.71141765e-03 4.28786190e+01] [ 3.76927079e-03 -1.76498751e-05 9.99992896e-01 3.78529890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:42.90, Z:0.38 [[ 6.91270898e-01 -7.22591025e-01 -2.59917337e-03 9.70355028e+01] [ 7.22585869e-01 6.91275785e-01 -2.72970842e-03 4.28983919e+01] [ 3.76920841e-03 8.84204731e-06 9.99992896e-01 3.79130328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:42.92, Z:0.38 [[ 6.91323490e-01 -7.22540711e-01 -2.59875490e-03 9.70545289e+01] [ 7.22535553e-01 6.91328374e-01 -2.73010675e-03 4.29188831e+01] [ 3.76920627e-03 9.69411688e-06 9.99992896e-01 3.79688105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.07, Y:42.94, Z:0.38 [[ 6.91238821e-01 -7.22621715e-01 -2.59800314e-03 9.70730156e+01] [ 7.22616555e-01 6.91243703e-01 -2.73082195e-03 4.29396660e+01] [ 3.76920455e-03 1.02900614e-05 9.99992896e-01 3.80025987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.09, Y:42.96, Z:0.38 [[ 6.91635969e-01 -7.22241608e-01 -2.59723727e-03 9.70909171e+01] [ 7.22236443e-01 6.91640846e-01 -2.73155016e-03 4.29620102e+01] [ 3.76919456e-03 1.34189310e-05 9.99992896e-01 3.80055644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.11, Y:42.98, Z:0.38 [[ 6.91682192e-01 -7.22197344e-01 -2.59647749e-03 9.71095790e+01] [ 7.22192175e-01 6.91687065e-01 -2.73227218e-03 4.29833610e+01] [ 3.76918961e-03 1.47082824e-05 9.99992896e-01 3.79448394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.13, Y:43.00, Z:0.38 [[ 6.92271270e-01 -7.21632698e-01 -2.59570850e-03 9.71271797e+01] [ 7.21627523e-01 6.92276136e-01 -2.73300254e-03 4.30038768e+01] [ 3.76917105e-03 1.88444375e-05 9.99992896e-01 3.78452166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:43.02, Z:0.38 [[ 6.92542343e-01 -7.21372559e-01 -2.59518638e-03 9.71465774e+01] [ 7.21367380e-01 6.92547205e-01 -2.73349824e-03 4.30245625e+01] [ 3.76915969e-03 2.09804799e-05 9.99992896e-01 3.78199066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.16, Y:43.04, Z:0.38 [[ 6.89073856e-01 -7.24686477e-01 -2.59442605e-03 9.71564717e+01] [ 7.24681319e-01 6.89078740e-01 -2.73421969e-03 4.30443929e+01] [ 3.76921587e-03 3.94721496e-06 9.99992896e-01 3.75007985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.18, Y:43.07, Z:0.38 [[ 6.92832163e-01 -7.21094399e-01 -2.54202475e-03 9.71837389e+01] [ 7.21089032e-01 6.92836820e-01 -2.78387467e-03 4.30661024e+01] [ 3.76864478e-03 9.57317456e-05 9.99992894e-01 3.79189844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.550888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:97.20, Y:43.09, Z:0.38 [[ 6.92813931e-01 -7.21111731e-01 -2.59383118e-03 9.72014637e+01] [ 7.21106546e-01 6.92818786e-01 -2.73473756e-03 4.30870348e+01] [ 3.76910631e-03 2.42356352e-05 9.99992897e-01 3.79156407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.580888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.22, Y:43.11, Z:0.38 [[ 6.92552153e-01 -7.21363146e-01 -2.59340892e-03 9.72196420e+01] [ 7.21357962e-01 6.92557009e-01 -2.73513795e-03 4.31084380e+01] [ 3.76911124e-03 2.34495072e-05 9.99992897e-01 3.79277956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:43.13, Z:0.38 [[ 6.92225265e-01 -7.21676839e-01 -2.59265712e-03 9.72390347e+01] [ 7.21671654e-01 6.92230120e-01 -2.73585039e-03 4.31284359e+01] [ 3.76911522e-03 2.27776112e-05 9.99992897e-01 3.79071006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.26, Y:43.15, Z:0.38 [[ 6.91777303e-01 -7.22106257e-01 -2.59190334e-03 9.72579077e+01] [ 7.22101072e-01 6.91782158e-01 -2.73656433e-03 4.31483992e+01] [ 3.76912271e-03 2.14769148e-05 9.99992897e-01 3.79218950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:97.27, Y:43.17, Z:0.38 [[ 6.88745281e-01 -7.24998774e-01 -2.59149531e-03 9.72696962e+01] [ 7.24993608e-01 6.88750156e-01 -2.73695068e-03 4.31669016e+01] [ 3.76917868e-03 6.24433320e-06 9.99992897e-01 3.78602245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:43.19, Z:0.38 [[ 6.89908750e-01 -7.23891894e-01 -2.53831733e-03 9.72957292e+01] [ 7.23886533e-01 6.89913414e-01 -2.78724352e-03 4.31897603e+01] [ 3.76888217e-03 8.54899585e-05 9.99992894e-01 3.78197887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.31, Y:43.21, Z:0.38 [[ 6.88516987e-01 -7.25215585e-01 -2.59123192e-03 9.73146220e+01] [ 7.25210420e-01 6.88521863e-01 -2.73714983e-03 4.32097668e+01] [ 3.76914355e-03 5.38576345e-06 9.99992897e-01 3.77470331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.33, Y:43.23, Z:0.38 [[ 6.85534688e-01 -7.28035356e-01 -2.59083735e-03 9.73343853e+01] [ 7.28030209e-01 6.85539584e-01 -2.73752326e-03 4.32296667e+01] [ 3.76913528e-03 -9.54070998e-06 9.99992897e-01 3.77998313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790888479 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:97.35, Y:43.25, Z:0.38 [[ 6.84577041e-01 -7.28935913e-01 -2.59011066e-03 9.73531783e+01] [ 7.28930770e-01 6.84581941e-01 -2.73821065e-03 4.32486318e+01] [ 3.76912306e-03 -1.34952126e-05 9.99992897e-01 3.78257998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.37, Y:43.27, Z:0.38 [[ 6.83512981e-01 -7.29933782e-01 -2.58418577e-03 9.73730602e+01] [ 7.29928625e-01 6.83517866e-01 -2.74381450e-03 4.32691395e+01] [ 3.76914004e-03 -1.08383380e-05 9.99992897e-01 3.79732960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85088847899999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.39, Y:43.29, Z:0.38 [[ 6.82970382e-01 -7.30441476e-01 -2.58974338e-03 9.73915189e+01] [ 7.30436343e-01 6.82975292e-01 -2.73855889e-03 4.32886996e+01] [ 3.76908774e-03 -2.12880709e-05 9.99992897e-01 3.79733558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88088847899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.41, Y:43.31, Z:0.38 [[ 6.83277491e-01 -7.30154207e-01 -2.58932431e-03 9.74105410e+01] [ 7.30149070e-01 6.83282397e-01 -2.73895507e-03 4.33091310e+01] [ 3.76909929e-03 -1.91263841e-05 9.99992897e-01 3.80223577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.910888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:97.43, Y:43.33, Z:0.38 [[ 6.83904840e-01 -7.29566631e-01 -2.58856885e-03 9.74293507e+01] [ 7.29561487e-01 6.83909738e-01 -2.73966886e-03 4.33301720e+01] [ 3.76911843e-03 -1.48473500e-05 9.99992897e-01 3.82652730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.940888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.45, Y:43.35, Z:0.38 [[ 6.84013692e-01 -7.29464579e-01 -2.58778988e-03 9.74477333e+01] [ 7.29459432e-01 6.84018587e-01 -2.74040445e-03 4.33499424e+01] [ 3.76912436e-03 -1.32135711e-05 9.99992897e-01 3.83206219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.970888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.47, Y:43.37, Z:0.38 [[ 6.84121495e-01 -7.29363480e-01 -2.58735439e-03 9.74670895e+01] [ 7.29358331e-01 6.84126387e-01 -2.74081556e-03 4.33702613e+01] [ 3.76912819e-03 -1.20576466e-05 9.99992897e-01 3.83858124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.49, Y:43.39, Z:0.38 [[ 6.84576512e-01 -7.28936423e-01 -2.58657969e-03 9.74859952e+01] [ 7.28931267e-01 6.84581399e-01 -2.74154647e-03 4.33902568e+01] [ 3.76913742e-03 -8.64048943e-06 9.99992897e-01 3.83488568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.50, Y:43.41, Z:0.38 [[ 6.85841037e-01 -7.27746785e-01 -2.58615238e-03 9.75048784e+01] [ 7.27741620e-01 6.85845913e-01 -2.74194950e-03 4.34115183e+01] [ 3.76914697e-03 -1.50923019e-06 9.99992897e-01 3.83729205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.52, Y:43.43, Z:0.38 [[ 6.86447697e-01 -7.27174584e-01 -2.58539191e-03 9.75234806e+01] [ 7.27169411e-01 6.86452566e-01 -2.74266636e-03 4.34320490e+01] [ 3.76914618e-03 2.67909259e-06 9.99992897e-01 3.84177966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.54, Y:43.45, Z:0.38 [[ 6.88223694e-01 -7.25493946e-01 -2.58463124e-03 9.75431364e+01] [ 7.25488759e-01 6.88228548e-01 -2.74338301e-03 4.34525578e+01] [ 3.76912477e-03 1.29402754e-05 9.99992897e-01 3.84967494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.56, Y:43.47, Z:0.39 [[ 6.88788563e-01 -7.24957680e-01 -2.58387157e-03 9.75628993e+01] [ 7.24952487e-01 6.88793410e-01 -2.74409833e-03 4.34731969e+01] [ 3.76910887e-03 1.69194240e-05 9.99992897e-01 3.85606352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.58, Y:43.49, Z:0.39 [[ 6.89709364e-01 -7.24081709e-01 -2.58310301e-03 9.75821136e+01] [ 7.24076507e-01 6.89714200e-01 -2.74482161e-03 4.34935488e+01] [ 3.76907794e-03 2.27649606e-05 9.99992897e-01 3.86069019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:43.51, Z:0.39 [[ 6.91837022e-01 -7.22049075e-01 -2.58233935e-03 9.76008541e+01] [ 7.22043856e-01 6.91841841e-01 -2.74553987e-03 4.35147273e+01] [ 3.76898493e-03 3.49038656e-05 9.99992897e-01 3.86491709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21088847899999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:97.62, Y:43.54, Z:0.39 [[ 6.93031520e-01 -7.20902661e-01 -2.58157953e-03 9.76198847e+01] [ 7.20897432e-01 6.93036327e-01 -2.74625413e-03 4.35354376e+01] [ 3.76891031e-03 4.21866202e-05 9.99992897e-01 3.86433414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24088847899999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.64, Y:43.56, Z:0.39 [[ 6.93922725e-01 -7.20044854e-01 -2.58081298e-03 9.76386987e+01] [ 7.20039615e-01 6.93927522e-01 -2.74697431e-03 4.35562704e+01] [ 3.76884187e-03 4.79003133e-05 9.99992897e-01 3.85942338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27088847899999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:97.66, Y:43.58, Z:0.39 [[ 6.94610711e-01 -7.19381195e-01 -2.58003213e-03 9.76580412e+01] [ 7.19375950e-01 6.94615500e-01 -2.74770751e-03 4.35768032e+01] [ 3.76877942e-03 5.25740070e-05 9.99992897e-01 3.85357556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.300888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.68, Y:43.60, Z:0.38 [[ 6.94272928e-01 -7.19707196e-01 -2.57924787e-03 9.76769597e+01] [ 7.19701950e-01 6.94277717e-01 -2.74844349e-03 4.35956002e+01] [ 3.76878888e-03 5.18801850e-05 9.99992897e-01 3.84407489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.330888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.70, Y:43.62, Z:0.38 [[ 6.93075847e-01 -7.20860056e-01 -2.57885219e-03 9.76968451e+01] [ 7.20854816e-01 6.93080643e-01 -2.74881471e-03 4.36159551e+01] [ 3.76886326e-03 4.61590621e-05 9.99992897e-01 3.84296757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:43.64, Z:0.38 [[ 6.91257443e-01 -7.22603972e-01 -2.57808146e-03 9.77158464e+01] [ 7.22598742e-01 6.91262250e-01 -2.74953737e-03 4.36355658e+01] [ 3.76895702e-03 3.77197493e-05 9.99992897e-01 3.84109540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.74, Y:43.66, Z:0.39 [[ 6.87046089e-01 -7.26609267e-01 -2.57764941e-03 9.77367535e+01] [ 7.26604064e-01 6.87050924e-01 -2.74994236e-03 4.36550581e+01] [ 3.76911001e-03 1.64066081e-05 9.99992897e-01 3.85684894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.76, Y:43.67, Z:0.39 [[ 6.84679215e-01 -7.28839991e-01 -2.57687921e-03 9.77562945e+01] [ 7.28834800e-01 6.84684064e-01 -2.75066389e-03 4.36740539e+01] [ 3.76914198e-03 5.20315061e-06 9.99992897e-01 3.86423290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.78, Y:43.69, Z:0.39 [[ 6.82349720e-01 -7.31021355e-01 -2.57635623e-03 9.77760701e+01] [ 7.31016178e-01 6.82354584e-01 -2.75115364e-03 4.36937780e+01] [ 3.76914055e-03 -6.10916716e-06 9.99992897e-01 3.87177054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.80, Y:43.71, Z:0.39 [[ 6.78315919e-01 -7.34765868e-01 -2.57558961e-03 9.77960041e+01] [ 7.34760715e-01 6.78320808e-01 -2.75187116e-03 4.37136918e+01] [ 3.76905703e-03 -2.58040514e-05 9.99992897e-01 3.86463944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.82, Y:43.73, Z:0.39 [[ 6.76390059e-01 -7.36539109e-01 -2.57482722e-03 9.78161933e+01] [ 7.36533966e-01 6.76394959e-01 -2.75258432e-03 4.37344482e+01] [ 3.76898615e-03 -3.46270333e-05 9.99992897e-01 3.86116214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.83, Y:43.75, Z:0.38 [[ 6.69426348e-01 -7.42873957e-01 -2.57845994e-03 9.78276513e+01] [ 7.42868873e-01 6.69431310e-01 -2.74918756e-03 4.37540101e+01] [ 3.76840165e-03 -7.50790440e-05 9.99992897e-01 3.80271518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.86, Y:43.77, Z:0.39 [[ 6.72139469e-01 -7.40420247e-01 -2.52845798e-03 9.78554476e+01] [ 7.40414968e-01 6.72144224e-01 -2.79590723e-03 4.37742041e+01] [ 3.76963475e-03 7.13146326e-06 9.99992895e-01 3.85267443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.88, Y:43.79, Z:0.39 [[ 6.70543704e-01 -7.41865563e-01 -2.57437630e-03 9.78764114e+01] [ 7.41860458e-01 6.70548643e-01 -2.75296775e-03 4.37939747e+01] [ 3.76857651e-03 -6.38427828e-05 9.99992897e-01 3.85461239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:43.81, Z:0.39 [[ 6.69954458e-01 -7.42397737e-01 -2.57369866e-03 9.78957793e+01] [ 7.42392634e-01 6.69959398e-01 -2.75360112e-03 4.38142856e+01] [ 3.76854085e-03 -6.59075850e-05 9.99992897e-01 3.85736125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.660888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.91, Y:43.83, Z:0.39 [[ 6.70214522e-01 -7.42162970e-01 -2.57292120e-03 9.79138730e+01] [ 7.42157862e-01 6.70219458e-01 -2.75432737e-03 4.38340951e+01] [ 3.76858164e-03 -6.35234965e-05 9.99992897e-01 3.85905820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.690888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.93, Y:43.86, Z:0.39 [[ 6.72169202e-01 -7.40393103e-01 -2.57249092e-03 9.79323262e+01] [ 7.40387980e-01 6.72174122e-01 -2.75472919e-03 4.38558549e+01] [ 3.76874432e-03 -5.29972385e-05 9.99992897e-01 3.85754309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:43.88, Z:0.38 [[ 6.75707681e-01 -7.37165189e-01 -2.57172163e-03 9.79508534e+01] [ 7.37160040e-01 6.75712574e-01 -2.75544718e-03 4.38766642e+01] [ 3.76896439e-03 -3.38935949e-05 9.99992897e-01 3.84109800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:43.90, Z:0.38 [[ 6.75501072e-01 -7.37354523e-01 -2.57094867e-03 9.79703093e+01] [ 7.37349372e-01 6.75505963e-01 -2.75616820e-03 4.38976195e+01] [ 3.76896425e-03 -3.38928158e-05 9.99992897e-01 3.84217154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.99, Y:43.92, Z:0.38 [[ 6.77454399e-01 -7.35560284e-01 -2.57017608e-03 9.79897609e+01] [ 7.35555118e-01 6.77459274e-01 -2.75688847e-03 4.39181542e+01] [ 3.76904728e-03 -2.28399463e-05 9.99992897e-01 3.83928733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.01, Y:43.94, Z:0.38 [[ 6.77248515e-01 -7.35749854e-01 -2.56940497e-03 9.80092040e+01] [ 7.35744686e-01 6.77253389e-01 -2.75760695e-03 4.39391212e+01] [ 3.76904713e-03 -2.28408375e-05 9.99992897e-01 3.84036087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.03, Y:43.96, Z:0.39 [[ 6.81739223e-01 -7.31590756e-01 -2.56863300e-03 9.80298533e+01] [ 7.31585556e-01 6.81744062e-01 -2.75832583e-03 4.39596241e+01] [ 3.76911597e-03 1.28410159e-06 9.99992897e-01 3.85609383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:43.98, Z:0.39 [[ 6.83635171e-01 -7.29819401e-01 -2.56795984e-03 9.80496315e+01] [ 7.29814186e-01 6.83639994e-01 -2.75895239e-03 4.39802001e+01] [ 3.76909703e-03 1.19833743e-05 9.99992897e-01 3.87161168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:44.00, Z:0.39 [[ 6.85840928e-01 -7.27746955e-01 -2.56717703e-03 9.80695891e+01] [ 7.27741723e-01 6.85845732e-01 -2.75968059e-03 4.40006167e+01] [ 3.76903656e-03 2.44600626e-05 9.99992897e-01 3.87626862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.09, Y:44.02, Z:0.39 [[ 6.90042734e-01 -7.23764077e-01 -2.56639209e-03 9.80878747e+01] [ 7.23758814e-01 6.90047505e-01 -2.76041036e-03 4.40199245e+01] [ 3.76881832e-03 4.73522193e-05 9.99992897e-01 3.85981253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.11, Y:44.04, Z:0.39 [[ 6.91866369e-01 -7.22021013e-01 -2.56595988e-03 9.81072653e+01] [ 7.22015737e-01 6.91871125e-01 -2.76081207e-03 4.40403859e+01] [ 3.76867788e-03 5.74496049e-05 9.99992897e-01 3.85656496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99088847899999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.13, Y:44.06, Z:0.39 [[ 6.93376994e-01 -7.20570443e-01 -2.56524392e-03 9.81272979e+01] [ 7.20565155e-01 6.93381736e-01 -2.76147716e-03 4.40602007e+01] [ 3.76853210e-03 6.63193492e-05 9.99992897e-01 3.86588801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:44.08, Z:0.39 [[ 6.94606173e-01 -7.19385632e-01 -2.56453131e-03 9.81475756e+01] [ 7.19380333e-01 6.94610904e-01 -2.76213878e-03 4.40796565e+01] [ 3.76839436e-03 7.37252648e-05 9.99992897e-01 3.88203577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:44.10, Z:0.39 [[ 6.96438609e-01 -7.17611797e-01 -2.56375144e-03 9.81689472e+01] [ 7.17606483e-01 6.96443323e-01 -2.76286245e-03 4.40983084e+01] [ 3.76817026e-03 8.43994274e-05 9.99992897e-01 3.89854737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:44.12, Z:0.39 [[ 6.97101552e-01 -7.16967822e-01 -2.56296218e-03 9.81878468e+01] [ 7.16962501e-01 6.97106258e-01 -2.76359441e-03 4.41170788e+01] [ 3.76806524e-03 8.89581787e-05 9.99992897e-01 3.90403030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.21, Y:44.14, Z:0.39 [[ 6.97134853e-01 -7.16935444e-01 -2.56252301e-03 9.82092551e+01] [ 7.16930122e-01 6.97139556e-01 -2.76400156e-03 4.41356047e+01] [ 3.76804684e-03 8.97318851e-05 9.99992897e-01 3.89895595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:44.16, Z:0.39 [[ 6.96461058e-01 -7.17590017e-01 -2.56174301e-03 9.82299623e+01] [ 7.17584696e-01 6.96465764e-01 -2.76472430e-03 4.41551049e+01] [ 3.76810486e-03 8.72552379e-05 9.99992897e-01 3.89009449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:44.17, Z:0.39 [[ 6.95383915e-01 -7.18633879e-01 -2.56095477e-03 9.82507781e+01] [ 7.18628563e-01 6.95388626e-01 -2.76545425e-03 4.41747783e+01] [ 3.76820793e-03 8.26771532e-05 9.99992897e-01 3.88189393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:44.19, Z:0.39 [[ 6.94195801e-01 -7.19781658e-01 -2.56016281e-03 9.82713123e+01] [ 7.19776347e-01 6.94200518e-01 -2.76618722e-03 4.41936486e+01] [ 3.76831718e-03 7.75309220e-05 9.99992897e-01 3.87599964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:44.21, Z:0.39 [[ 6.91797293e-01 -7.22087221e-01 -2.55937309e-03 9.82936224e+01] [ 7.22081923e-01 6.91802024e-01 -2.76691771e-03 4.42108494e+01] [ 3.76853541e-03 6.60691405e-05 9.99992897e-01 3.87336314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:44.23, Z:0.39 [[ 6.90330253e-01 -7.23489872e-01 -2.55858071e-03 9.83130702e+01] [ 7.23484581e-01 6.90334992e-01 -2.76765024e-03 4.42293877e+01] [ 3.76864471e-03 5.94989970e-05 9.99992897e-01 3.86926903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:44.25, Z:0.39 [[ 6.88492401e-01 -7.25239043e-01 -2.55814893e-03 9.83332139e+01] [ 7.25233762e-01 6.88497152e-01 -2.76804927e-03 4.42485657e+01] [ 3.76877566e-03 5.05249181e-05 9.99992897e-01 3.86622387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:44.27, Z:0.38 [[ 6.85678009e-01 -7.27900494e-01 -2.55735760e-03 9.83551432e+01] [ 7.27895229e-01 6.85682777e-01 -2.76878018e-03 4.42658785e+01] [ 3.76893252e-03 3.70032894e-05 9.99992897e-01 3.84808120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:44.28, Z:0.39 [[ 6.84443073e-01 -7.29061823e-01 -2.55699721e-03 9.83756928e+01] [ 7.29056564e-01 6.84447849e-01 -2.76911296e-03 4.42849776e+01] [ 3.76898578e-03 3.11045891e-05 9.99992897e-01 3.85041198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:44.30, Z:0.39 [[ 6.83131645e-01 -7.30290779e-01 -2.55624005e-03 9.83959685e+01] [ 7.30285527e-01 6.83136427e-01 -2.76981173e-03 4.43041983e+01] [ 3.76902867e-03 2.53609303e-05 9.99992897e-01 3.85736940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:44.32, Z:0.39 [[ 6.81870347e-01 -7.31468591e-01 -2.55546136e-03 9.84162445e+01] [ 7.31463344e-01 6.81875135e-01 -2.77052998e-03 4.43233399e+01] [ 3.76906122e-03 1.99159228e-05 9.99992897e-01 3.86383941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:44.34, Z:0.39 [[ 6.81445256e-01 -7.31864631e-01 -2.55468228e-03 9.84351529e+01] [ 7.31859384e-01 6.81450044e-01 -2.77124818e-03 4.43443327e+01] [ 3.76906688e-03 1.87857265e-05 9.99992897e-01 3.85945580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.470888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.45, Y:44.37, Z:0.39 [[ 6.81475814e-01 -7.31836179e-01 -2.55389792e-03 9.84529818e+01] [ 7.31830929e-01 6.81480599e-01 -2.77197083e-03 4.43650482e+01] [ 3.76906043e-03 2.00095943e-05 9.99992897e-01 3.85228089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:44.39, Z:0.38 [[ 6.81933320e-01 -7.31409890e-01 -2.55336253e-03 9.84701881e+01] [ 7.31404636e-01 6.81938100e-01 -2.77246391e-03 4.43875300e+01] [ 3.76904272e-03 2.30943204e-05 9.99992897e-01 3.84479473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.49, Y:44.41, Z:0.38 [[ 6.81739698e-01 -7.31590369e-01 -2.55257503e-03 9.84885354e+01] [ 7.31585113e-01 6.81744476e-01 -2.77318876e-03 4.44084321e+01] [ 3.76904212e-03 2.31669803e-05 9.99992897e-01 3.84786946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:44.43, Z:0.39 [[ 6.81495293e-01 -7.31818047e-01 -2.55179936e-03 9.85076158e+01] [ 7.31812790e-01 6.81500070e-01 -2.77390233e-03 4.44292182e+01] [ 3.76904323e-03 2.29619681e-05 9.99992897e-01 3.85500647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:44.45, Z:0.39 [[ 6.80600181e-01 -7.32650589e-01 -2.55102920e-03 9.85258012e+01] [ 7.32645335e-01 6.80604962e-01 -2.77461042e-03 4.44493342e+01] [ 3.76906309e-03 1.94007111e-05 9.99992897e-01 3.85940851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:44.47, Z:0.39 [[ 6.79617205e-01 -7.33562505e-01 -2.55061704e-03 9.85439632e+01] [ 7.33557257e-01 6.79621991e-01 -2.77498926e-03 4.44702891e+01] [ 3.76908351e-03 1.49068059e-05 9.99992897e-01 3.85874773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:44.49, Z:0.39 [[ 6.78340118e-01 -7.34743617e-01 -2.54986205e-03 9.85615685e+01] [ 7.34738374e-01 6.78344910e-01 -2.77568283e-03 4.44917234e+01] [ 3.76910118e-03 9.37552429e-06 9.99992897e-01 3.85662617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:44.51, Z:0.38 [[ 6.77429356e-01 -7.35583421e-01 -2.54910328e-03 9.85787206e+01] [ 7.35578182e-01 6.77434152e-01 -2.77637948e-03 4.45132323e+01] [ 3.76910834e-03 5.73620916e-06 9.99992897e-01 3.84980629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:44.54, Z:0.38 [[ 6.75493551e-01 -7.37361490e-01 -2.54866718e-03 9.85943030e+01] [ 7.37356262e-01 6.75498359e-01 -2.77677976e-03 4.45355962e+01] [ 3.76911096e-03 -3.57888820e-06 9.99992897e-01 3.82714757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:44.56, Z:0.38 [[ 6.74231182e-01 -7.38515957e-01 -2.54824812e-03 9.86120605e+01] [ 7.38510736e-01 6.74235998e-01 -2.77716427e-03 4.45559876e+01] [ 3.76910075e-03 -9.45784178e-06 9.99992897e-01 3.82925463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:44.58, Z:0.38 [[ 6.71825140e-01 -7.40705401e-01 -2.54757784e-03 9.86266754e+01] [ 7.40700193e-01 6.71829970e-01 -2.77777901e-03 4.45764291e+01] [ 3.76905506e-03 -2.08096252e-05 9.99992897e-01 3.84556477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:44.60, Z:0.39 [[ 6.70188828e-01 -7.42186349e-01 -2.52143877e-03 9.86501365e+01] [ 7.42181061e-01 6.70193571e-01 -2.80173126e-03 4.45970533e+01] [ 3.76925874e-03 6.32488888e-06 9.99992896e-01 3.86462774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:44.62, Z:0.39 [[ 6.68478445e-01 -7.43727156e-01 -2.54666433e-03 9.86685252e+01] [ 7.43721966e-01 6.68483295e-01 -2.77861142e-03 4.46181333e+01] [ 3.76893133e-03 -3.65683588e-05 9.99992897e-01 3.87274941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:44.64, Z:0.39 [[ 6.67021460e-01 -7.45034154e-01 -2.54587341e-03 9.86860976e+01] [ 7.45028971e-01 6.67026317e-01 -2.77933590e-03 4.46392439e+01] [ 3.76886474e-03 -4.28727605e-05 9.99992897e-01 3.86988275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:44.66, Z:0.39 [[ 6.64512427e-01 -7.47272879e-01 -2.54542577e-03 9.87028863e+01] [ 7.47267711e-01 6.64517299e-01 -2.77974581e-03 4.46614924e+01] [ 3.76870811e-03 -5.49388544e-05 9.99992897e-01 3.85533783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:44.68, Z:0.39 [[ 6.63415991e-01 -7.48246448e-01 -2.54463326e-03 9.87209732e+01] [ 7.48241285e-01 6.63420869e-01 -2.78047110e-03 4.46816297e+01] [ 3.76864043e-03 -5.93906662e-05 9.99992897e-01 3.85629049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:44.70, Z:0.39 [[ 6.61343818e-01 -7.50078583e-01 -2.54419362e-03 9.87404916e+01] [ 7.50073431e-01 6.61348708e-01 -2.78087332e-03 4.47021538e+01] [ 3.76847269e-03 -6.92186623e-05 9.99992897e-01 3.86348766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:44.72, Z:0.39 [[ 6.61137579e-01 -7.50260376e-01 -2.54342863e-03 9.87597365e+01] [ 7.50255223e-01 6.61142468e-01 -2.78157282e-03 4.47233099e+01] [ 3.76847255e-03 -6.92182967e-05 9.99992897e-01 3.86456123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:44.74, Z:0.39 [[ 6.59257868e-01 -7.51912627e-01 -2.54266371e-03 9.87768000e+01] [ 7.51907483e-01 6.59262767e-01 -2.78227186e-03 4.47444504e+01] [ 3.76830886e-03 -7.76132588e-05 9.99992897e-01 3.85492846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:44.77, Z:0.39 [[ 6.58128922e-01 -7.52900962e-01 -2.54224124e-03 9.87949876e+01] [ 7.52895825e-01 6.58133827e-01 -2.78265784e-03 4.47659824e+01] [ 3.76820072e-03 -8.26952104e-05 9.99992897e-01 3.85087815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:44.79, Z:0.38 [[ 6.56894543e-01 -7.53978183e-01 -2.54148038e-03 9.88128052e+01] [ 7.53973050e-01 6.56899454e-01 -2.78335257e-03 4.47882297e+01] [ 3.76808419e-03 -8.78386021e-05 9.99992897e-01 3.84599957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:44.81, Z:0.38 [[ 6.56594485e-01 -7.54239503e-01 -2.54070742e-03 9.88301397e+01] [ 7.54234370e-01 6.56599394e-01 -2.78405797e-03 4.48089649e+01] [ 3.76807345e-03 -8.82917448e-05 9.99992897e-01 3.84752005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:44.83, Z:0.38 [[ 6.54885781e-01 -7.55723600e-01 -2.54028182e-03 9.88399611e+01] [ 7.55718477e-01 6.54890701e-01 -2.78444625e-03 4.48291394e+01] [ 3.76787869e-03 -9.62436501e-05 9.99992897e-01 3.84589036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.160888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.87, Y:44.85, Z:0.39 [[ 6.55022479e-01 -7.55605285e-01 -2.49101922e-03 9.88662019e+01] [ 7.55599988e-01 6.55027215e-01 -2.82931554e-03 4.48516947e+01] [ 3.76953116e-03 -2.89488138e-05 9.99992895e-01 3.86068489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:44.87, Z:0.39 [[ 6.52480905e-01 -7.57800911e-01 -2.53918969e-03 9.88817403e+01] [ 7.57795800e-01 6.52485837e-01 -2.78540307e-03 4.48731042e+01] [ 3.76756629e-03 -1.06764962e-04 9.99992897e-01 3.85436016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.220888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.90, Y:44.90, Z:0.38 [[ 6.50906796e-01 -7.59153478e-01 -2.51797776e-03 9.89014786e+01] [ 7.59148301e-01 6.50911661e-01 -2.80472497e-03 4.48957611e+01] [ 3.76819780e-03 -8.59039969e-05 9.99992897e-01 3.84098468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:98.92, Y:44.92, Z:0.38 [[ 6.49042918e-01 -7.60747558e-01 -2.53845200e-03 9.89193404e+01] [ 7.60742466e-01 6.49047870e-01 -2.78607043e-03 4.49180600e+01] [ 3.76707314e-03 -1.22828957e-04 9.99992897e-01 3.82737082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:44.94, Z:0.38 [[ 6.47441141e-01 -7.62111232e-01 -2.53766683e-03 9.89371771e+01] [ 7.62106147e-01 6.47446101e-01 -2.78678542e-03 4.49393555e+01] [ 3.76684296e-03 -1.29691961e-04 9.99992897e-01 3.81403124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.95, Y:44.96, Z:0.38 [[ 6.43971358e-01 -7.65045393e-01 -2.53687231e-03 9.89544845e+01] [ 7.65040329e-01 6.43976339e-01 -2.78750849e-03 4.49599356e+01] [ 3.76625628e-03 -1.45733995e-04 9.99992897e-01 3.81269190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:44.98, Z:0.38 [[ 6.42021283e-01 -7.66682619e-01 -2.53643244e-03 9.89729704e+01] [ 7.66677566e-01 6.42026274e-01 -2.78790868e-03 4.49813336e+01] [ 3.76589741e-03 -1.54729144e-04 9.99992897e-01 3.82033424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:45.00, Z:0.38 [[ 6.40282602e-01 -7.68135248e-01 -2.53565512e-03 9.89910700e+01] [ 7.68130204e-01 6.40287603e-01 -2.78861550e-03 4.50032739e+01] [ 3.76558239e-03 -1.62211297e-04 9.99992897e-01 3.82289602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.01, Y:45.03, Z:0.38 [[ 6.37368987e-01 -7.70554572e-01 -2.53487844e-03 9.90079701e+01] [ 7.70549544e-01 6.37374004e-01 -2.78932132e-03 4.50264858e+01] [ 3.76498992e-03 -1.75422520e-04 9.99992897e-01 3.82195381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.03, Y:45.05, Z:0.38 [[ 6.35867606e-01 -7.71793992e-01 -2.53410138e-03 9.90253270e+01] [ 7.71788971e-01 6.35872629e-01 -2.79002711e-03 4.50492309e+01] [ 3.76469187e-03 -1.81703638e-04 9.99992897e-01 3.82264075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46088847899999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:99.04, Y:45.07, Z:0.38 [[ 6.34843747e-01 -7.72636395e-01 -2.53329627e-03 9.90409646e+01] [ 7.72631377e-01 6.34848775e-01 -2.79075794e-03 4.50710916e+01] [ 3.76450119e-03 -1.85608962e-04 9.99992897e-01 3.81769285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.06, Y:45.10, Z:0.38 [[ 6.33763053e-01 -7.73523094e-01 -2.53284613e-03 9.90560955e+01] [ 7.73518082e-01 6.33768086e-01 -2.79116642e-03 4.50955389e+01] [ 3.76426873e-03 -1.90264129e-04 9.99992897e-01 3.82349783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52088847899999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:99.07, Y:45.12, Z:0.38 [[ 6.33617824e-01 -7.73642063e-01 -2.53205894e-03 9.90736825e+01] [ 7.73637049e-01 6.33622855e-01 -2.79188035e-03 4.51175028e+01] [ 3.76428649e-03 -1.89909449e-04 9.99992897e-01 3.82818092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.550888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:99.09, Y:45.14, Z:0.38 [[ 6.34526155e-01 -7.72897245e-01 -2.53127615e-03 9.90891536e+01] [ 7.72892222e-01 6.34531178e-01 -2.79258990e-03 4.51381081e+01] [ 3.76455867e-03 -1.84432315e-04 9.99992897e-01 3.83363423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.580888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:99.11, Y:45.16, Z:0.38 [[ 6.34635590e-01 -7.72807432e-01 -2.51797837e-03 9.91052888e+01] [ 7.72802361e-01 6.34640564e-01 -2.80463325e-03 4.51599984e+01] [ 3.76545263e-03 -1.65979554e-04 9.99992897e-01 3.83563400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610888479 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:99.12, Y:45.19, Z:0.38 [[ 6.33547868e-01 -7.73699400e-01 -2.51739538e-03 9.91197608e+01] [ 7.73694334e-01 6.33552846e-01 -2.80516098e-03 4.51872871e+01] [ 3.76525438e-03 -1.70490782e-04 9.99992897e-01 3.83236852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:99.14, Y:45.21, Z:0.38 [[ 6.33456634e-01 -7.73774060e-01 -2.52923436e-03 9.91366366e+01] [ 7.73769036e-01 6.33461656e-01 -2.79444560e-03 4.52104228e+01] [ 3.76444250e-03 -1.86883135e-04 9.99992897e-01 3.83267138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670888479 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:99.15, Y:45.23, Z:0.38 [[ 6.33600806e-01 -7.73656012e-01 -2.52845047e-03 9.91528543e+01] [ 7.73650985e-01 6.33605824e-01 -2.79515469e-03 4.52325178e+01] [ 3.76452918e-03 -1.85125928e-04 9.99992897e-01 3.83297107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700888479 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:99.17, Y:45.26, Z:0.38 [[ 6.34620596e-01 -7.72819712e-01 -2.52802005e-03 9.91668195e+01] [ 7.72814677e-01 6.34625606e-01 -2.79554392e-03 4.52569994e+01] [ 3.76479771e-03 -1.79581249e-04 9.99992897e-01 3.82290793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730888479 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:99.19, Y:45.28, Z:0.38 [[ 6.34414597e-01 -7.72988830e-01 -2.52759665e-03 9.91859282e+01] [ 7.72983794e-01 6.34419606e-01 -2.79592669e-03 4.52782539e+01] [ 3.76477697e-03 -1.80014546e-04 9.99992897e-01 3.82398309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760888479 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:99.20, Y:45.30, Z:0.38 [[ 6.35107620e-01 -7.72419527e-01 -2.52685128e-03 9.92027320e+01] [ 7.72414484e-01 6.35112623e-01 -2.79660017e-03 4.53011572e+01] [ 3.76498372e-03 -1.75634451e-04 9.99992897e-01 3.81741007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:99.22, Y:45.33, Z:0.38 [[ 6.39720604e-01 -7.68603388e-01 -2.52609372e-03 9.92216629e+01] [ 7.68598313e-01 6.39725573e-01 -2.79728428e-03 4.53259434e+01] [ 3.76600893e-03 -1.52070981e-04 9.99992897e-01 3.80716781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820888479 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:99.23, Y:45.35, Z:0.38 [[ 6.39975517e-01 -7.68391088e-01 -2.54428294e-03 9.92339450e+01] [ 7.68386076e-01 6.39980550e-01 -2.78085827e-03 4.53488283e+01] [ 3.76507831e-03 -1.75310377e-04 9.99992897e-01 3.79612754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85088847899999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:99.25, Y:45.37, Z:0.38 [[ 6.41845843e-01 -7.66829536e-01 -2.52508191e-03 9.92500256e+01] [ 7.66824444e-01 6.41850795e-01 -2.79818528e-03 4.53721437e+01] [ 3.76645695e-03 -1.40290944e-04 9.99992897e-01 3.78574479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88088847899999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:99.27, Y:45.39, Z:0.38 [[ 6.44009485e-01 -7.65013340e-01 -2.52431618e-03 9.92657169e+01] [ 7.65008231e-01 6.44014419e-01 -2.79887589e-03 4.53949212e+01] [ 3.76687341e-03 -1.28620038e-04 9.99992897e-01 3.77547783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.910888479 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:99.28, Y:45.42, Z:0.38 [[ 6.48996323e-01 -7.60787357e-01 -2.52379591e-03 9.92794357e+01] [ 7.60782214e-01 6.49001222e-01 -2.79934495e-03 4.54207278e+01] [ 3.76765288e-03 -1.03294458e-04 9.99992897e-01 3.76415580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.940888479 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:99.30, Y:45.44, Z:0.38 [[ 6.51878036e-01 -7.58319629e-01 -2.52302730e-03 9.92956651e+01] [ 7.58314465e-01 6.51882913e-01 -2.80003752e-03 4.54435366e+01] [ 3.76804180e-03 -8.79651384e-05 9.99992897e-01 3.75823748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.970888479 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:99.31, Y:45.47, Z:0.37 [[ 6.57792430e-01 -7.53195032e-01 -2.52224763e-03 9.93091901e+01] [ 7.53189827e-01 6.57797264e-01 -2.80073966e-03 4.54675062e+01] [ 3.76863079e-03 -5.74259130e-05 9.99992897e-01 3.74937053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000888479 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:99.33, Y:45.49, Z:0.38 [[ 6.60333805e-01 -7.50967980e-01 -2.52171705e-03 9.93263723e+01] [ 7.50962757e-01 6.60338618e-01 -2.80121730e-03 4.54904025e+01] [ 3.76881165e-03 -4.39771085e-05 9.99992897e-01 3.75111117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030888479 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:99.34, Y:45.51, Z:0.38 [[ 6.62318382e-01 -7.49218263e-01 -2.52095094e-03 9.93431293e+01] [ 7.49213025e-01 6.62323179e-01 -2.80190659e-03 4.55129193e+01] [ 3.76892383e-03 -3.29750411e-05 9.99992897e-01 3.75967277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060888479 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:99.36, Y:45.54, Z:0.38 [[ 6.65447983e-01 -7.46439971e-01 -2.52018163e-03 9.93596060e+01] [ 7.46434710e-01 6.65452755e-01 -2.80259838e-03 4.55364394e+01] [ 3.76903326e-03 -1.61676063e-05 9.99992897e-01 3.77559619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090888479 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:99.38, Y:45.56, Z:0.38 [[ 6.66311440e-01 -7.45669309e-01 -2.51940992e-03 9.93765677e+01] [ 7.45664039e-01 6.66316203e-01 -2.80329194e-03 4.55580136e+01] [ 3.76905241e-03 -1.07678916e-05 9.99992897e-01 3.78311148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120888479 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:99.39, Y:45.58, Z:0.38 [[ 6.67192036e-01 -7.44881495e-01 -2.51899067e-03 9.93939264e+01] [ 7.44876219e-01 6.67196791e-01 -2.80366862e-03 4.55796415e+01] [ 3.76906337e-03 -5.75086686e-06 9.99992897e-01 3.78837792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150888479 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:99.41, Y:45.60, Z:0.38 [[ 6.67992260e-01 -7.44163960e-01 -2.51824133e-03 9.94116564e+01] [ 7.44158676e-01 6.67997007e-01 -2.80434152e-03 4.56017231e+01] [ 3.76906756e-03 -6.92702410e-07 9.99992897e-01 3.78594761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180888479 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:99.43, Y:45.62, Z:0.38 [[ 6.70029369e-01 -7.42330322e-01 -2.51744741e-03 9.94280726e+01] [ 7.42325023e-01 6.70034098e-01 -2.80505403e-03 4.56234034e+01] [ 3.76905227e-03 1.07043798e-05 9.99992897e-01 3.79572797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21088847899999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:99.45, Y:45.64, Z:0.38 [[ 6.70708622e-01 -7.41716663e-01 -2.51710348e-03 9.94458583e+01] [ 7.41711358e-01 6.70713345e-01 -2.80536263e-03 4.56447078e+01] [ 3.76903910e-03 1.46166631e-05 9.99992897e-01 3.80054639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24088847899999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:99.46, Y:45.67, Z:0.38 [[ 6.71026148e-01 -7.41429414e-01 -2.51636793e-03 9.94638954e+01] [ 7.41424105e-01 6.71030866e-01 -2.80602224e-03 4.56660986e+01] [ 3.76902798e-03 1.72184548e-05 9.99992897e-01 3.79676966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27088847899999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:99.48, Y:45.69, Z:0.38 [[ 6.70856111e-01 -7.41583272e-01 -2.51558098e-03 9.94815823e+01] [ 7.41577961e-01 6.70860828e-01 -2.80672756e-03 4.56867036e+01] [ 3.76902695e-03 1.74109166e-05 9.99992897e-01 3.80404078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.300888479 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:99.50, Y:45.71, Z:0.38 [[ 6.70306563e-01 -7.42080040e-01 -2.51515455e-03 9.94997029e+01] [ 7.42074730e-01 6.70311282e-01 -2.80710964e-03 4.57067074e+01] [ 3.76903650e-03 1.51913747e-05 9.99992897e-01 3.80683437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.330888479 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:99.52, Y:45.73, Z:0.38 [[ 6.69582511e-01 -7.42733422e-01 -2.51472171e-03 9.95184695e+01] [ 7.42728116e-01 6.69587233e-01 -2.80749735e-03 4.57270334e+01] [ 3.76904766e-03 1.20966082e-05 9.99992897e-01 3.79136722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360888479 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:99.54, Y:45.75, Z:0.38 [[ 6.68561282e-01 -7.43652804e-01 -2.51392474e-03 9.95374836e+01] [ 7.43647502e-01 6.68566008e-01 -2.80821079e-03 4.57476375e+01] [ 3.76905846e-03 7.98715505e-06 9.99992897e-01 3.77823079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390888479 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:99.56, Y:45.77, Z:0.38 [[ 6.66064884e-01 -7.45889572e-01 -2.51312992e-03 9.95563026e+01] [ 7.45884283e-01 6.66069626e-01 -2.80892191e-03 4.57667042e+01] [ 3.76906507e-03 -3.57986237e-06 9.99992897e-01 3.76052359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420888479 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:99.58, Y:45.79, Z:0.38 [[ 6.64655831e-01 -7.47145442e-01 -2.51280044e-03 9.95751804e+01] [ 7.47140161e-01 6.64660581e-01 -2.80921663e-03 4.57867236e+01] [ 3.76905280e-03 -1.02519114e-05 9.99992897e-01 3.75761165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450888479 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:99.59, Y:45.81, Z:0.38 [[ 6.61612013e-01 -7.49842139e-01 -2.51236250e-03 9.95945738e+01] [ 7.49836875e-01 6.61616782e-01 -2.80960824e-03 4.58066707e+01] [ 3.76898384e-03 -2.49914868e-05 9.99992897e-01 3.76006265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480888479 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:99.61, Y:45.83, Z:0.38 [[ 6.60338725e-01 -7.50963688e-01 -2.51156297e-03 9.96137758e+01] [ 7.50958430e-01 6.60343500e-01 -2.81032277e-03 4.58263361e+01] [ 3.76894464e-03 -3.03144262e-05 9.99992897e-01 3.76167038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510888479 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:99.63, Y:45.85, Z:0.38 [[ 6.58789627e-01 -7.52323016e-01 -2.51121700e-03 9.96326224e+01] [ 7.52317767e-01 6.58794412e-01 -2.81063189e-03 4.58453792e+01] [ 3.76887879e-03 -3.76180342e-05 9.99992897e-01 3.76514598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540888479 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:99.65, Y:45.86, Z:0.38 [[ 6.56443657e-01 -7.54370879e-01 -2.51068070e-03 9.96537350e+01] [ 7.54365642e-01 6.56448456e-01 -2.81111087e-03 4.58647874e+01] [ 3.76875265e-03 -4.86353540e-05 9.99992897e-01 3.76866323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570888479 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:99.67, Y:45.88, Z:0.38 [[ 6.55349234e-01 -7.55321840e-01 -2.50989567e-03 9.96725728e+01] [ 7.55316608e-01 6.55354038e-01 -2.81181161e-03 4.58847013e+01] [ 3.76869298e-03 -5.30472992e-05 9.99992897e-01 3.76933174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60088847899999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:99.69, Y:45.91, Z:0.38 [[ 6.54642300e-01 -7.55934628e-01 -2.50946466e-03 9.96916442e+01] [ 7.55929399e-01 6.54647107e-01 -2.81219622e-03 4.59051185e+01] [ 3.76865028e-03 -5.59955098e-05 9.99992897e-01 3.77202782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63088847899999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:99.71, Y:45.92, Z:0.38 [[ 6.54189394e-01 -7.56326612e-01 -2.50868104e-03 9.97098670e+01] [ 7.56321383e-01 6.54194202e-01 -2.81289510e-03 4.59246905e+01] [ 3.76863200e-03 -5.72029720e-05 9.99992897e-01 3.76982325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.660888479 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:99.73, Y:45.95, Z:0.38 [[ 6.54228048e-01 -7.56293177e-01 -2.50825449e-03 9.97281799e+01] [ 7.56287947e-01 6.54232854e-01 -2.81327540e-03 4.59455331e+01] [ 3.76864348e-03 -5.64389645e-05 9.99992897e-01 3.77199596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.690888479 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:99.75, Y:45.97, Z:0.38 [[ 6.54837896e-01 -7.55765204e-01 -2.50747321e-03 9.97465023e+01] [ 7.55759967e-01 6.54842694e-01 -2.81397157e-03 4.59658133e+01] [ 3.76870231e-03 -5.23526487e-05 9.99992897e-01 3.77598139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.720888479 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:99.77, Y:45.99, Z:0.38 [[ 6.55532809e-01 -7.55162533e-01 -2.50703665e-03 9.97658853e+01] [ 7.55157290e-01 6.55537601e-01 -2.81436047e-03 4.59864408e+01] [ 3.76875637e-03 -4.83013792e-05 9.99992897e-01 3.79552010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750888479 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:99.78, Y:46.01, Z:0.38 [[ 6.56101466e-01 -7.54668526e-01 -2.50622938e-03 9.97841174e+01] [ 7.54663277e-01 6.56106251e-01 -2.81507917e-03 4.60059616e+01] [ 3.76880441e-03 -4.43817122e-05 9.99992897e-01 3.80218771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780888479 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:99.81, Y:46.03, Z:0.38 [[ 6.55930923e-01 -7.54816762e-01 -2.50587969e-03 9.98050626e+01] [ 7.54811513e-01 6.55935708e-01 -2.81539042e-03 4.60283773e+01] [ 3.76879985e-03 -4.47652030e-05 9.99992897e-01 3.79625495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810888479 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:99.82, Y:46.05, Z:0.38 [[ 6.58764161e-01 -7.52345264e-01 -2.52663559e-03 9.98222340e+01] [ 7.52340068e-01 6.58769003e-01 -2.79692028e-03 4.60475800e+01] [ 3.76871894e-03 -5.83783509e-05 9.99992897e-01 3.81122826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840888479 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:99.84, Y:46.07, Z:0.38 [[ 6.59675751e-01 -7.51546161e-01 -2.50425498e-03 9.98407178e+01] [ 7.51540883e-01 6.59680504e-01 -2.81681747e-03 4.60681805e+01] [ 3.76897655e-03 -2.38638173e-05 9.99992897e-01 3.82208010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870888479 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:99.86, Y:46.09, Z:0.38 [[ 6.60721581e-01 -7.50626888e-01 -2.50346202e-03 9.98592148e+01] [ 7.50621600e-01 6.60726323e-01 -2.81752205e-03 4.60887398e+01] [ 3.76901106e-03 -1.75550445e-05 9.99992897e-01 3.82904895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900888479 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:99.88, Y:46.11, Z:0.38 [[ 6.61934899e-01 -7.49557147e-01 -2.50445535e-03 9.98778852e+01] [ 7.49551855e-01 6.61939637e-01 -2.81663962e-03 4.61092226e+01] [ 3.76903062e-03 -1.27870909e-05 9.99992897e-01 3.82213267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930888479 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:99.90, Y:46.13, Z:0.38 [[ 6.64617427e-01 -7.47179639e-01 -2.50251741e-03 9.98978206e+01] [ 7.47174323e-01 6.64622139e-01 -2.81836038e-03 4.61296123e+01] [ 3.76904996e-03 3.31467666e-06 9.99992897e-01 3.82398419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96088847899999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:99.92, Y:46.15, Z:0.38 [[ 6.66006453e-01 -7.45941784e-01 -2.50166829e-03 9.99167699e+01] [ 7.45936457e-01 6.66011152e-01 -2.81911388e-03 4.61488212e+01] [ 3.76903382e-03 1.14624568e-05 9.99992897e-01 3.82399850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99088847899999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:99.94, Y:46.17, Z:0.38 [[ 6.68348046e-01 -7.43844495e-01 -2.50123470e-03 9.99359365e+01] [ 7.43839152e-01 6.68352726e-01 -2.81949853e-03 4.61679455e+01] [ 3.76897549e-03 2.38900418e-05 9.99992897e-01 3.82633947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02088847899999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:99.96, Y:46.19, Z:0.38 [[ 6.69314436e-01 -7.42975055e-01 -2.50081081e-03 9.99554047e+01] [ 7.42969704e-01 6.69319107e-01 -2.81987446e-03 4.61888320e+01] [ 3.76893684e-03 2.93560118e-05 9.99992897e-01 3.83467233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.050888479 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:99.97, Y:46.21, Z:0.38 [[ 6.70357513e-01 -7.42034066e-01 -2.50001612e-03 9.99742395e+01] [ 7.42028706e-01 6.70362174e-01 -2.82057883e-03 4.62091927e+01] [ 3.76888182e-03 3.57124886e-05 9.99992897e-01 3.83875452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.080888479 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:99.99, Y:46.23, Z:0.38 [[ 6.73025626e-01 -7.39614941e-01 -2.49922489e-03 9.99933748e+01] [ 7.39609562e-01 6.73030264e-01 -2.82127974e-03 4.62279627e+01] [ 3.76871464e-03 5.03429317e-05 9.99992897e-01 3.83523002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110888479 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:100.01, Y:46.25, Z:0.38 [[ 6.74169129e-01 -7.38572773e-01 -2.49880000e-03 1.00011935e+02] [ 7.38567385e-01 6.74173758e-01 -2.82165601e-03 4.62475952e+01] [ 3.76862369e-03 5.67411951e-05 9.99992897e-01 3.83470151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140888479 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:100.03, Y:46.27, Z:0.38 [[ 6.75518105e-01 -7.37339167e-01 -2.49838046e-03 1.00031408e+02] [ 7.37333769e-01 6.75522722e-01 -2.82202743e-03 4.62678249e+01] [ 3.76850413e-03 6.41903409e-05 9.99992897e-01 3.84809272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170888479 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:100.05, Y:46.29, Z:0.39 [[ 6.76768275e-01 -7.36191866e-01 -2.49761996e-03 1.00051298e+02] [ 7.36186458e-01 6.76772880e-01 -2.82270036e-03 4.62876155e+01] [ 3.76837049e-03 7.16000627e-05 9.99992897e-01 3.85870709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200888479 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:100.07, Y:46.31, Z:0.39 [[ 6.79087132e-01 -7.34053427e-01 -2.49684188e-03 1.00071166e+02] [ 7.34048002e-01 6.79091716e-01 -2.82338844e-03 4.63055001e+01] [ 3.76810260e-03 8.45249660e-05 9.99992897e-01 3.85615755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230888479 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:100.09, Y:46.33, Z:0.38 [[ 6.79694553e-01 -7.33491024e-01 -2.49642560e-03 1.00090293e+02] [ 7.33485594e-01 6.79699132e-01 -2.82375647e-03 4.63261794e+01] [ 3.76801834e-03 8.81996845e-05 9.99992897e-01 3.84206175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260888479 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:100.11, Y:46.35, Z:0.38 [[ 6.80339580e-01 -7.32892781e-01 -2.49565652e-03 1.00109013e+02] [ 7.32887344e-01 6.80344151e-01 -2.82443602e-03 4.63463933e+01] [ 3.76791409e-03 9.25405340e-05 9.99992897e-01 3.82228168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290888479 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:100.13, Y:46.37, Z:0.38 [[ 6.81450623e-01 -7.31859838e-01 -2.49529799e-03 1.00129378e+02] [ 7.31854393e-01 6.81455184e-01 -2.82475274e-03 4.63650324e+01] [ 3.76775683e-03 9.87347201e-05 9.99992897e-01 3.79548604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320888479 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:100.15, Y:46.38, Z:0.38 [[ 6.81844506e-01 -7.31492888e-01 -2.49506604e-03 1.00150208e+02] [ 7.31487440e-01 6.81849063e-01 -2.82495760e-03 4.63846604e+01] [ 3.76769483e-03 1.01072353e-04 9.99992897e-01 3.80506250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35088847899999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:100.17, Y:46.40, Z:0.38 [[ 6.79898997e-01 -7.33301529e-01 -2.49438621e-03 1.00166366e+02] [ 7.33296091e-01 6.79903566e-01 -2.82555775e-03 4.64028984e+01] [ 3.76792790e-03 9.19702159e-05 9.99992897e-01 3.77761529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38088847899999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:100.19, Y:46.42, Z:0.38 [[ 6.81600001e-01 -7.31720822e-01 -2.46536546e-03 1.00194734e+02] [ 7.31715280e-01 6.81604445e-01 -2.85115314e-03 4.64194645e+01] [ 3.76665217e-03 1.39400406e-04 9.99992896e-01 3.80592903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.410888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:100.22, Y:46.44, Z:0.38 [[ 6.81279423e-01 -7.32019215e-01 -2.49351371e-03 1.00215230e+02] [ 7.32013765e-01 6.81283979e-01 -2.82631941e-03 4.64385238e+01] [ 3.76771106e-03 1.00226898e-04 9.99992897e-01 3.81076399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.440888479 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:100.24, Y:46.46, Z:0.38 [[ 6.81337099e-01 -7.31965534e-01 -2.49275106e-03 1.00236557e+02] [ 7.31960082e-01 6.81341652e-01 -2.82699189e-03 4.64556993e+01] [ 3.76767575e-03 1.01540179e-04 9.99992897e-01 3.79876848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.470888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:100.26, Y:46.48, Z:0.38 [[ 6.81377235e-01 -7.31928174e-01 -2.49233294e-03 1.00256758e+02] [ 7.31922721e-01 6.81381785e-01 -2.82736046e-03 4.64755003e+01] [ 3.76765505e-03 1.02303943e-04 9.99992897e-01 3.79729902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:100.28, Y:46.50, Z:0.38 [[ 6.80597016e-01 -7.32653734e-01 -2.49159290e-03 1.00279172e+02] [ 7.32648282e-01 6.80601570e-01 -2.82801247e-03 4.64965093e+01] [ 3.76773593e-03 9.92755868e-05 9.99992897e-01 3.79292436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.30, Y:46.51, Z:0.38 [[ 6.80669486e-01 -7.32586361e-01 -2.50495375e-03 1.00297473e+02] [ 7.32580952e-01 6.80674090e-01 -2.81624357e-03 4.65143945e+01] [ 3.76819874e-03 8.18496601e-05 9.99992897e-01 3.83093208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.32, Y:46.53, Z:0.38 [[ 6.81733766e-01 -7.31596136e-01 -2.48338028e-03 1.00324285e+02] [ 7.31590651e-01 6.81738279e-01 -2.83523782e-03 4.65309294e+01] [ 3.76726443e-03 1.16059566e-04 9.99992897e-01 3.84800358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:100.35, Y:46.55, Z:0.39 [[ 6.81581124e-01 -7.31738320e-01 -2.49035895e-03 1.00345721e+02] [ 7.31732859e-01 6.81585666e-01 -2.82909473e-03 4.65506126e+01] [ 3.76754999e-03 1.05980092e-04 9.99992897e-01 3.87665419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:100.36, Y:46.57, Z:0.39 [[ 6.81371963e-01 -7.31933091e-01 -2.48965214e-03 1.00364559e+02] [ 7.31927629e-01 6.81376503e-01 -2.82971659e-03 4.65721239e+01] [ 3.76755368e-03 1.05844361e-04 9.99992897e-01 3.87772821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:46.59, Z:0.39 [[ 6.81035306e-01 -7.32246351e-01 -2.48884319e-03 1.00385056e+02] [ 7.32240888e-01 6.81039845e-01 -2.83042792e-03 4.65916293e+01] [ 3.76757190e-03 1.05188596e-04 9.99992897e-01 3.87488659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:100.41, Y:46.61, Z:0.39 [[ 6.80354276e-01 -7.32879163e-01 -2.48847745e-03 1.00407533e+02] [ 7.32873703e-01 6.80358819e-01 -2.83074944e-03 4.66093810e+01] [ 3.76765486e-03 1.02172804e-04 9.99992897e-01 3.89312488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:46.63, Z:0.39 [[ 6.80319540e-01 -7.32911408e-01 -2.48823921e-03 1.00428480e+02] [ 7.32905948e-01 6.80324083e-01 -2.83095884e-03 4.66291147e+01] [ 3.76765108e-03 1.02311296e-04 9.99992897e-01 3.91221944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:46.65, Z:0.39 [[ 6.81376576e-01 -7.31928804e-01 -2.48755435e-03 1.00452726e+02] [ 7.31923335e-01 6.81381108e-01 -2.83156050e-03 4.66495434e+01] [ 3.76747322e-03 1.08659923e-04 9.99992897e-01 3.92031366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:46.67, Z:0.39 [[ 6.80139998e-01 -7.33077956e-01 -2.50847872e-03 1.00468586e+02] [ 7.33072562e-01 6.80144620e-01 -2.81317755e-03 4.66692957e+01] [ 3.76840675e-03 7.44576516e-05 9.99992897e-01 3.91708281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:46.69, Z:0.39 [[ 6.80550751e-01 -7.32696727e-01 -2.48631451e-03 1.00489418e+02] [ 7.32691259e-01 6.80555284e-01 -2.83263196e-03 4.66895637e+01] [ 3.76753465e-03 1.06048899e-04 9.99992897e-01 3.90416946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:46.71, Z:0.39 [[ 6.79786743e-01 -7.33405621e-01 -2.48560865e-03 1.00510626e+02] [ 7.33400156e-01 6.79791280e-01 -2.83325121e-03 4.67111704e+01] [ 3.76761745e-03 1.03060843e-04 9.99992897e-01 3.86895674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:46.73, Z:0.39 [[ 6.80306698e-01 -7.32923271e-01 -2.50532636e-03 1.00529604e+02] [ 7.32917865e-01 6.80311306e-01 -2.81595400e-03 4.67296316e+01] [ 3.76828006e-03 7.95139212e-05 9.99992897e-01 3.88887601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:46.75, Z:0.39 [[ 6.79621514e-01 -7.33558742e-01 -2.48405763e-03 1.00549657e+02] [ 7.33553273e-01 6.79626045e-01 -2.83459257e-03 4.67488370e+01] [ 3.76757042e-03 1.04261494e-04 9.99992897e-01 3.86682708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:46.77, Z:0.39 [[ 6.76203705e-01 -7.36710513e-01 -2.48379479e-03 1.00572238e+02] [ 7.36705064e-01 6.76208261e-01 -2.83482287e-03 4.67671396e+01] [ 3.76800636e-03 8.70935290e-05 9.99992897e-01 3.88217740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:46.79, Z:0.39 [[ 6.75044277e-01 -7.37773018e-01 -2.48936444e-03 1.00590440e+02] [ 7.37767595e-01 6.75048863e-01 -2.82994426e-03 4.67883756e+01] [ 3.76829916e-03 7.37652612e-05 9.99992897e-01 3.87973255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:46.81, Z:0.39 [[ 6.70564764e-01 -7.41846839e-01 -2.48290020e-03 1.00610493e+02] [ 7.41841422e-01 6.70569358e-01 -2.83560446e-03 4.68077435e+01] [ 3.76854100e-03 5.95382273e-05 9.99992897e-01 3.88817176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:46.83, Z:0.39 [[ 6.67870891e-01 -7.44273009e-01 -2.48211110e-03 1.00630226e+02] [ 7.44267606e-01 6.67875502e-01 -2.83629502e-03 4.68275702e+01] [ 3.76871902e-03 4.69239903e-05 9.99992897e-01 3.89259519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:46.85, Z:0.39 [[ 6.65047212e-01 -7.46797194e-01 -2.48132760e-03 1.00650693e+02] [ 7.46791806e-01 6.65051840e-01 -2.83698030e-03 4.68480924e+01] [ 3.76886041e-03 3.36907221e-05 9.99992897e-01 3.88954870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:46.87, Z:0.39 [[ 6.58919173e-01 -7.52209650e-01 -2.48321363e-03 1.00670722e+02] [ 7.52204306e-01 6.58923852e-01 -2.83533105e-03 4.68660055e+01] [ 3.76901207e-03 3.70006736e-07 9.99992897e-01 3.89225881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:46.89, Z:0.39 [[ 6.55608265e-01 -7.55097112e-01 -2.48054493e-03 1.00689630e+02] [ 7.55091781e-01 6.55612958e-01 -2.83766389e-03 4.68857070e+01] [ 3.76898921e-03 -1.26431916e-05 9.99992897e-01 3.90314499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:46.91, Z:0.39 [[ 6.50516641e-01 -7.59487952e-01 -2.47986594e-03 1.00707862e+02] [ 7.59482650e-01 6.50521367e-01 -2.83825715e-03 4.69079760e+01] [ 3.76882789e-03 -3.70816496e-05 9.99992897e-01 3.93111689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:46.93, Z:0.39 [[ 6.48061222e-01 -7.61584208e-01 -2.47920609e-03 1.00725287e+02] [ 7.61578918e-01 6.48065963e-01 -2.83883341e-03 4.69289736e+01] [ 3.76869977e-03 -4.83732431e-05 9.99992897e-01 3.93324224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.190888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.74, Y:46.95, Z:0.39 [[ 6.45445953e-01 -7.63801924e-01 -2.47852302e-03 1.00743021e+02] [ 7.63796648e-01 6.45450709e-01 -2.83942965e-03 4.69504836e+01] [ 3.76852627e-03 -6.03891975e-05 9.99992897e-01 3.93574656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:46.97, Z:0.39 [[ 6.42946450e-01 -7.65907124e-01 -2.47777999e-03 1.00761202e+02] [ 7.65901862e-01 6.42951221e-01 -2.84007790e-03 4.69724326e+01] [ 3.76832756e-03 -7.17183078e-05 9.99992897e-01 3.94662751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:46.99, Z:0.40 [[ 6.39202576e-01 -7.69034415e-01 -2.47701561e-03 1.00778924e+02] [ 7.69029174e-01 6.39207369e-01 -2.84074441e-03 4.69942486e+01] [ 3.76795684e-03 -8.90861219e-05 9.99992897e-01 3.95039872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:47.02, Z:0.39 [[ 6.37934343e-01 -7.70086776e-01 -2.47622671e-03 1.00796813e+02] [ 7.70081539e-01 6.37939142e-01 -2.84143191e-03 4.70159625e+01] [ 3.76783108e-03 -9.42494759e-05 9.99992897e-01 3.94152816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:47.04, Z:0.39 [[ 6.36743594e-01 -7.71071636e-01 -2.47544225e-03 1.00813591e+02] [ 7.71066404e-01 6.36748399e-01 -2.84211516e-03 4.70377923e+01] [ 3.76770828e-03 -9.90317287e-05 9.99992897e-01 3.91347079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:47.06, Z:0.39 [[ 6.36179991e-01 -7.71536709e-01 -2.47503439e-03 1.00829875e+02] [ 7.71531479e-01 6.36184798e-01 -2.84247030e-03 4.70603601e+01] [ 3.76764943e-03 -1.01244210e-04 9.99992897e-01 3.90285838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:47.09, Z:0.39 [[ 6.35737799e-01 -7.71901121e-01 -2.47208456e-03 1.00844202e+02] [ 7.71895884e-01 6.35742597e-01 -2.84503788e-03 4.70850070e+01] [ 3.76769739e-03 -9.94937726e-05 9.99992897e-01 3.88566723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:47.11, Z:0.39 [[ 6.36052183e-01 -7.71642094e-01 -2.46995220e-03 1.00860837e+02] [ 7.71636848e-01 6.36056971e-01 -2.84689333e-03 4.71069601e+01] [ 3.76781304e-03 -9.51334147e-05 9.99992897e-01 3.88256456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.88, Y:47.13, Z:0.39 [[ 6.35184308e-01 -7.72356672e-01 -2.46308154e-03 1.00878919e+02] [ 7.72351408e-01 6.35189077e-01 -2.85286855e-03 4.71298317e+01] [ 3.76795454e-03 -9.02671595e-05 9.99992897e-01 3.89698697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:47.15, Z:0.39 [[ 6.35290599e-01 -7.72269213e-01 -2.47327377e-03 1.00895090e+02] [ 7.72263983e-01 6.35295405e-01 -2.84400492e-03 4.71533666e+01] [ 3.76759691e-03 -1.03250666e-04 9.99992897e-01 3.89727840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:47.18, Z:0.39 [[ 6.35291837e-01 -7.72268197e-01 -2.47248568e-03 1.00911315e+02] [ 7.72262965e-01 6.35296640e-01 -2.84468990e-03 4.71752028e+01] [ 3.76762539e-03 -1.02200847e-04 9.99992897e-01 3.88586045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.93, Y:47.20, Z:0.39 [[ 6.36082202e-01 -7.71617341e-01 -2.47204303e-03 1.00926466e+02] [ 7.71612102e-01 6.36086998e-01 -2.84507451e-03 4.71991112e+01] [ 3.76774326e-03 -9.77570587e-05 9.99992897e-01 3.88591378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:47.22, Z:0.39 [[ 6.36560250e-01 -7.71223016e-01 -2.47125606e-03 1.00942565e+02] [ 7.71217772e-01 6.36565040e-01 -2.84575792e-03 4.72208048e+01] [ 3.76782922e-03 -9.43802217e-05 9.99992897e-01 3.88117956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.580888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:100.96, Y:47.24, Z:0.39 [[ 6.37077389e-01 -7.70795884e-01 -2.47080665e-03 1.00959259e+02] [ 7.70790635e-01 6.37082174e-01 -2.84614806e-03 4.72429568e+01] [ 3.76790608e-03 -9.12580479e-05 9.99992897e-01 3.88667228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:100.99, Y:47.27, Z:0.39 [[ 6.41028602e-01 -7.67513017e-01 -2.47000952e-03 1.00986976e+02] [ 7.67507740e-01 6.41033357e-01 -2.84683968e-03 4.72666000e+01] [ 3.76834500e-03 -7.08457707e-05 9.99992897e-01 3.87199901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.00, Y:47.29, Z:0.39 [[ 6.40690963e-01 -7.67794712e-01 -2.52405365e-03 1.00998523e+02] [ 7.67789620e-01 6.40695918e-01 -2.79997929e-03 4.72901273e+01] [ 3.76696016e-03 -1.44020764e-04 9.99992895e-01 3.91473078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:101.01, Y:47.31, Z:0.39 [[ 6.39411282e-01 -7.68860848e-01 -2.49169625e-03 1.01009553e+02] [ 7.68855655e-01 6.39416128e-01 -2.82798615e-03 4.73118530e+01] [ 3.76755860e-03 -1.07508502e-04 9.99992897e-01 3.90834786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.03, Y:47.33, Z:0.39 [[ 6.40742383e-01 -7.67751993e-01 -2.46503022e-03 1.01026675e+02] [ 7.67746702e-01 6.40747121e-01 -2.85104178e-03 4.73341307e+01] [ 3.76835403e-03 -6.57355186e-05 9.99992898e-01 3.90901972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:101.04, Y:47.36, Z:0.39 [[ 6.42256279e-01 -7.66486007e-01 -2.46424161e-03 1.01043784e+02] [ 7.66480705e-01 6.42261004e-01 -2.85172324e-03 4.73564370e+01] [ 3.76849225e-03 -5.72564818e-05 9.99992898e-01 3.90521102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:101.06, Y:47.38, Z:0.39 [[ 6.46903512e-01 -7.62567884e-01 -2.46345346e-03 1.01059351e+02] [ 7.62562550e-01 6.46908202e-01 -2.85240392e-03 4.73784543e+01] [ 3.76877987e-03 -3.33072361e-05 9.99992898e-01 3.89930619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:101.08, Y:47.40, Z:0.39 [[ 6.48784200e-01 -7.60968497e-01 -2.45110179e-03 1.01077445e+02] [ 7.60963111e-01 6.48788830e-01 -2.86306353e-03 4.74011232e+01] [ 3.76894861e-03 -7.68765957e-06 9.99992897e-01 3.89920448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:101.10, Y:47.42, Z:0.39 [[ 6.51008958e-01 -7.59066053e-01 -2.46233597e-03 1.01095371e+02] [ 7.59060690e-01 6.51013615e-01 -2.85336891e-03 4.74243058e+01] [ 3.76890972e-03 -1.14937151e-05 9.99992898e-01 3.91046039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85088847899999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:101.11, Y:47.45, Z:0.39 [[ 6.53563631e-01 -7.56867567e-01 -2.46277504e-03 1.01111560e+02] [ 7.56862190e-01 6.53568272e-01 -2.85299009e-03 4.74456063e+01] [ 3.76892730e-03 6.29256276e-07 9.99992898e-01 3.90179028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88088847899999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:101.13, Y:47.47, Z:0.39 [[ 6.56121176e-01 -7.54651565e-01 -2.45311216e-03 1.01128359e+02] [ 7.54646141e-01 6.56125762e-01 -2.86132001e-03 4.74677846e+01] [ 3.76884971e-03 2.61410282e-05 9.99992898e-01 3.87817940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:47.49, Z:0.39 [[ 6.56569714e-01 -7.54261349e-01 -2.45512280e-03 1.01146701e+02] [ 7.54255929e-01 6.56574304e-01 -2.85958723e-03 4.74886905e+01] [ 3.76884667e-03 2.57274467e-05 9.99992898e-01 3.88903803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.940888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:101.17, Y:47.51, Z:0.39 [[ 6.54974581e-01 -7.55646929e-01 -2.45295854e-03 1.01166414e+02] [ 7.55641511e-01 6.54979174e-01 -2.86145142e-03 4.75091182e+01] [ 3.76888373e-03 2.06206423e-05 9.99992898e-01 3.90002389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.970888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.20, Y:47.53, Z:0.39 [[ 6.59163815e-01 -7.51995356e-01 -2.45954481e-03 1.01196961e+02] [ 7.51989934e-01 6.59168403e-01 -2.85577957e-03 4.75295574e+01] [ 3.76878719e-03 3.28736171e-05 9.99992898e-01 3.89530652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:101.21, Y:47.55, Z:0.39 [[ 6.57521822e-01 -7.53431306e-01 -2.51387251e-03 1.01214796e+02] [ 7.53426072e-01 6.57526626e-01 -2.80893825e-03 4.75491977e+01] [ 3.76928012e-03 -4.70788893e-05 9.99992895e-01 3.88268481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:101.22, Y:47.57, Z:0.39 [[ 6.48509397e-01 -7.61202519e-01 -2.50748653e-03 1.01222502e+02] [ 7.61197320e-01 6.48514240e-01 -2.81443658e-03 4.75704670e+01] [ 3.76849693e-03 -8.35034618e-05 9.99992896e-01 3.91967545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060888479 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:101.24, Y:47.59, Z:0.39 [[ 6.46687426e-01 -7.62751194e-01 -2.44725118e-03 1.01241059e+02] [ 7.62745809e-01 6.46692057e-01 -2.86621599e-03 4.75904505e+01] [ 3.76882757e-03 -1.30847384e-05 9.99992898e-01 3.92057403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090888479 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:101.27, Y:47.61, Z:0.39 [[ 6.48764731e-01 -7.60985117e-01 -2.44450762e-03 1.01273865e+02] [ 7.60979711e-01 6.48769336e-01 -2.86857259e-03 4.76128891e+01] [ 3.76886263e-03 8.08015871e-07 9.99992898e-01 3.90828091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.28, Y:47.63, Z:0.39 [[ 6.41718133e-01 -7.66936413e-01 -2.52502955e-03 1.01279599e+02] [ 7.66931317e-01 6.41723085e-01 -2.79932367e-03 4.76323342e+01] [ 3.76727301e-03 -1.40147479e-04 9.99992894e-01 3.92115640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.30, Y:47.65, Z:0.39 [[ 6.37541818e-01 -7.70411862e-01 -2.44788119e-03 1.01298751e+02] [ 7.70406536e-01 6.37546515e-01 -2.86552566e-03 4.76527356e+01] [ 3.76827308e-03 -5.89712243e-05 9.99992898e-01 3.92378984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.32, Y:47.67, Z:0.39 [[ 6.36094532e-01 -7.71607265e-01 -2.44443815e-03 1.01315996e+02] [ 7.71601935e-01 6.36099226e-01 -2.86847883e-03 4.76718764e+01] [ 3.76824432e-03 -6.15095151e-05 9.99992898e-01 3.91876452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21088847899999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:101.34, Y:47.69, Z:0.39 [[ 6.33340651e-01 -7.73869297e-01 -2.43511441e-03 1.01336393e+02] [ 7.73863954e-01 6.33345330e-01 -2.87647220e-03 4.76948735e+01] [ 3.76828186e-03 -6.26604906e-05 9.99992898e-01 3.93298446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24088847899999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:101.36, Y:47.72, Z:0.39 [[ 6.31284450e-01 -7.75547495e-01 -2.45485494e-03 1.01355065e+02] [ 7.75542229e-01 6.31289215e-01 -2.85955126e-03 4.77169804e+01] [ 3.76744127e-03 -9.86534298e-05 9.99992898e-01 3.93964835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27088847899999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:101.37, Y:47.74, Z:0.39 [[ 6.30767603e-01 -7.75967910e-01 -2.45631680e-03 1.01372297e+02] [ 7.75962652e-01 6.30772377e-01 -2.85829848e-03 4.77381486e+01] [ 3.76732468e-03 -1.03088019e-04 9.99992898e-01 3.94065798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.300888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:101.39, Y:47.76, Z:0.39 [[ 6.29892144e-01 -7.76678745e-01 -2.45226907e-03 1.01390329e+02] [ 7.76673480e-01 6.29896909e-01 -2.86176585e-03 4.77598827e+01] [ 3.76734941e-03 -1.02008525e-04 9.99992898e-01 3.94551164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.330888479 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:101.42, Y:47.78, Z:0.39 [[ 6.32929510e-01 -7.74205543e-01 -2.45217069e-03 1.01417464e+02] [ 7.74200258e-01 6.32934254e-01 -2.86185006e-03 4.77811818e+01] [ 3.76772301e-03 -8.71218278e-05 9.99992898e-01 3.93917009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360888479 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:101.43, Y:47.80, Z:0.39 [[ 6.30195646e-01 -7.76432308e-01 -2.51384109e-03 1.01425173e+02] [ 7.76427248e-01 6.30200633e-01 -2.80891296e-03 4.78026440e+01] [ 3.76515503e-03 -1.81650004e-04 9.99992895e-01 3.94702817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390888479 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:101.46, Y:47.83, Z:0.39 [[ 6.35926420e-01 -7.71745794e-01 -2.45316949e-03 1.01457388e+02] [ 7.71740495e-01 6.35931147e-01 -2.86088156e-03 4.78280418e+01] [ 3.76792020e-03 -7.39000715e-05 9.99992899e-01 3.91649489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420888479 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:101.46, Y:47.85, Z:0.39 [[ 6.33119317e-01 -7.74049994e-01 -2.55683967e-03 1.01459884e+02] [ 7.74045063e-01 6.33124440e-01 -2.77189344e-03 4.78459689e+01] [ 3.76438179e-03 -2.24169840e-04 9.99992890e-01 3.94066842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:101.49, Y:47.87, Z:0.40 [[ 6.39600969e-01 -7.68703192e-01 -2.44995304e-03 1.01493427e+02] [ 7.68697861e-01 6.39605659e-01 -2.86334839e-03 4.78698606e+01] [ 3.76806888e-03 -5.18732605e-05 9.99992899e-01 3.96003896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:101.51, Y:47.90, Z:0.40 [[ 6.40459162e-01 -7.67988065e-01 -2.52871659e-03 1.01506435e+02] [ 7.67982991e-01 6.40464136e-01 -2.79576425e-03 4.78956554e+01] [ 3.76666586e-03 -1.51438505e-04 9.99992895e-01 3.97421235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510888479 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:101.52, Y:47.92, Z:0.40 [[ 6.40365618e-01 -7.68066090e-01 -2.52118011e-03 1.01515972e+02] [ 7.68060992e-01 6.40370565e-01 -2.80225790e-03 4.79157480e+01] [ 3.76680880e-03 -1.41950486e-04 9.99992895e-01 3.98093534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540888479 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:101.53, Y:47.94, Z:0.40 [[ 6.40014760e-01 -7.68358637e-01 -2.47229009e-03 1.01534376e+02] [ 7.68353376e-01 6.40019530e-01 -2.84432120e-03 4.79377168e+01] [ 3.76777270e-03 -7.91848871e-05 9.99992899e-01 3.98177033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:101.55, Y:47.96, Z:0.40 [[ 6.42903033e-01 -7.65943589e-01 -2.47156838e-03 1.01550719e+02] [ 7.65938308e-01 6.42907781e-01 -2.84494163e-03 4.79589755e+01] [ 3.76805535e-03 -6.40472996e-05 9.99992899e-01 3.97431999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60088847899999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:101.58, Y:47.98, Z:0.40 [[ 6.52879317e-01 -7.57457941e-01 -2.46279398e-03 1.01579623e+02] [ 7.57452570e-01 6.52883962e-01 -2.85247275e-03 4.79839878e+01] [ 3.76854682e-03 -3.12916833e-06 9.99992899e-01 4.01392407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63088847899999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:101.59, Y:48.01, Z:0.40 [[ 6.55852798e-01 -7.54884532e-01 -2.53980297e-03 1.01594367e+02] [ 7.54879395e-01 6.55857710e-01 -2.78632719e-03 4.80057492e+01] [ 3.76910465e-03 -8.98244483e-05 9.99992893e-01 4.00860044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.660888479 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:101.60, Y:48.03, Z:0.40 [[ 6.52501046e-01 -7.57783639e-01 -2.51836755e-03 1.01599765e+02] [ 7.57778452e-01 6.52505901e-01 -2.80471698e-03 4.80295190e+01] [ 3.76861832e-03 -7.82839011e-05 9.99992896e-01 3.97608041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.690888479 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:101.63, Y:48.05, Z:0.40 [[ 6.60467830e-01 -7.50850317e-01 -2.45912050e-03 1.01625983e+02] [ 7.50844888e-01 6.60472407e-01 -2.85544535e-03 4.80532722e+01] [ 3.76819328e-03 3.95117352e-05 9.99992900e-01 3.99996678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.720888479 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:101.64, Y:48.08, Z:0.40 [[ 6.60912705e-01 -7.50458558e-01 -2.51955734e-03 1.01643539e+02] [ 7.50453322e-01 6.60917507e-01 -2.80372146e-03 4.80769395e+01] [ 3.76929632e-03 -3.77950402e-05 9.99992895e-01 3.99001702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750888479 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:101.65, Y:48.10, Z:0.40 [[ 6.58299636e-01 -7.52751795e-01 -2.51498425e-03 1.01654721e+02] [ 7.52746560e-01 6.58304438e-01 -2.80762751e-03 4.81002683e+01] [ 3.76907194e-03 -4.48855779e-05 9.99992896e-01 3.97006283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780888479 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:101.67, Y:48.12, Z:0.40 [[ 6.62619442e-01 -7.48952161e-01 -2.47678909e-03 1.01674619e+02] [ 7.48946777e-01 6.62624071e-01 -2.84019893e-03 4.81244985e+01] [ 3.76835320e-03 2.69878290e-05 9.99992899e-01 4.01032877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810888479 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:101.68, Y:48.14, Z:0.40 [[ 6.60808241e-01 -7.50550585e-01 -2.50737607e-03 1.01682855e+02] [ 7.50545310e-01 6.60812998e-01 -2.81415037e-03 4.81447305e+01] [ 3.76906891e-03 -2.22855871e-05 9.99992897e-01 3.97083543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840888479 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:101.71, Y:48.17, Z:0.40 [[ 6.65780779e-01 -7.46143371e-01 -2.45430724e-03 1.01707647e+02] [ 7.46137897e-01 6.65785299e-01 -2.85921020e-03 4.81700207e+01] [ 3.76742242e-03 7.23555482e-05 9.99992901e-01 3.98047354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870888479 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:101.72, Y:48.19, Z:0.40 [[ 6.64764345e-01 -7.47048934e-01 -2.50129985e-03 1.01721717e+02] [ 7.47043613e-01 6.64769051e-01 -2.81953549e-03 4.81908025e+01] [ 3.76911771e-03 5.74658939e-06 9.99992897e-01 3.97598972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900888479 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:101.74, Y:48.21, Z:0.40 [[ 6.65770666e-01 -7.46152317e-01 -2.47801137e-03 1.01741014e+02] [ 7.46146917e-01 6.65775276e-01 -2.83916218e-03 4.82136309e+01] [ 3.76824614e-03 4.12703577e-05 9.99992899e-01 3.97174699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930888479 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:101.76, Y:48.23, Z:0.39 [[ 6.66235144e-01 -7.45737609e-01 -2.48035951e-03 1.01759026e+02] [ 7.45732213e-01 6.66239760e-01 -2.83717236e-03 4.82334274e+01] [ 3.76830026e-03 4.05399519e-05 9.99992899e-01 3.94594684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96088847899999 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:101.78, Y:48.26, Z:0.39 [[ 6.65638794e-01 -7.46269931e-01 -2.48723768e-03 1.01777518e+02] [ 7.46264560e-01 6.65643441e-01 -2.83134078e-03 4.82567319e+01] [ 3.76855794e-03 2.85129306e-05 9.99992899e-01 3.93786134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99088847899999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:101.80, Y:48.28, Z:0.39 [[ 6.65899349e-01 -7.46037457e-01 -2.48399794e-03 1.01795866e+02] [ 7.46032074e-01 6.65903981e-01 -2.83408294e-03 4.82803217e+01] [ 3.76843615e-03 3.40718450e-05 9.99992899e-01 3.94453883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02088847899999 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:101.81, Y:48.30, Z:0.39 [[ 6.64950590e-01 -7.46883242e-01 -2.47699948e-03 1.01811739e+02] [ 7.46877844e-01 6.64955202e-01 -2.83999722e-03 4.83006272e+01] [ 3.76824002e-03 3.84417980e-05 9.99992899e-01 3.89311008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.050888479 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:101.83, Y:48.32, Z:0.39 [[ 6.65601318e-01 -7.46303430e-01 -2.46512609e-03 1.01830705e+02] [ 7.46297990e-01 6.65605880e-01 -2.85002370e-03 4.83202945e+01] [ 3.76778489e-03 5.72608818e-05 9.99992900e-01 3.90800702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.080888479 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:101.85, Y:48.34, Z:0.39 [[ 6.61969967e-01 -7.49526293e-01 -2.46953996e-03 1.01848485e+02] [ 7.49520889e-01 6.61974573e-01 -2.84629742e-03 4.83411637e+01] [ 3.76814742e-03 3.31916263e-05 9.99992900e-01 3.89409076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110888479 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:101.87, Y:48.36, Z:0.39 [[ 6.60895360e-01 -7.50474006e-01 -2.46756093e-03 1.01870686e+02] [ 7.50468603e-01 6.60899966e-01 -2.84796683e-03 4.83635222e+01] [ 3.76813601e-03 3.03810648e-05 9.99992900e-01 3.92337937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140888479 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:101.89, Y:48.39, Z:0.39 [[ 6.58805129e-01 -7.52309537e-01 -2.48259023e-03 1.01889689e+02] [ 7.52304194e-01 6.58809807e-01 -2.83535283e-03 4.83855383e+01] [ 3.76861776e-03 2.81944497e-07 9.99992899e-01 3.93432277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170888479 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:101.91, Y:48.41, Z:0.39 [[ 6.57920095e-01 -7.53083671e-01 -2.47630883e-03 1.01907964e+02] [ 7.53078314e-01 6.57924756e-01 -2.84060922e-03 4.84062259e+01] [ 3.76844131e-03 4.03940999e-06 9.99992899e-01 3.93577943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200888479 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:101.93, Y:48.43, Z:0.39 [[ 6.54221234e-01 -7.56299231e-01 -2.45969129e-03 1.01925657e+02] [ 7.56293844e-01 6.54225858e-01 -2.85450004e-03 4.84273368e+01] [ 3.76804983e-03 7.22515673e-06 9.99992901e-01 3.93674273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230888479 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:101.95, Y:48.45, Z:0.39 [[ 6.53646061e-01 -7.56796400e-01 -2.45673073e-03 1.01946724e+02] [ 7.56791007e-01 6.53650678e-01 -2.85697174e-03 4.84497063e+01] [ 3.76798964e-03 8.21660305e-06 9.99992901e-01 3.93349614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260888479 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:101.96, Y:48.47, Z:0.39 [[ 6.51749281e-01 -7.58430474e-01 -2.46796315e-03 1.01963454e+02] [ 7.58425129e-01 6.51753953e-01 -2.84759769e-03 4.84686580e+01] [ 3.76820960e-03 -1.58455253e-05 9.99992900e-01 3.93532534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290888479 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:101.99, Y:48.49, Z:0.39 [[ 6.50099537e-01 -7.59845104e-01 -2.45169497e-03 1.01985137e+02] [ 7.59839717e-01 6.50104160e-01 -2.86115485e-03 4.84864044e+01] [ 3.76789160e-03 -2.85977031e-06 9.99992901e-01 3.90967333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320888479 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:102.01, Y:48.51, Z:0.40 [[ 6.50251586e-01 -7.59715032e-01 -2.43838295e-03 1.02007122e+02] [ 7.59709602e-01 6.50256157e-01 -2.87224612e-03 4.85092309e+01] [ 3.76766208e-03 1.52196546e-05 9.99992902e-01 3.97135099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35088847899999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:102.02, Y:48.53, Z:0.40 [[ 6.48778869e-01 -7.60972984e-01 -2.46917821e-03 1.02024486e+02] [ 7.60967660e-01 6.48783567e-01 -2.84658247e-03 4.85296236e+01] [ 3.76813460e-03 -3.21622050e-05 9.99992900e-01 3.97752530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38088847899999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:102.04, Y:48.55, Z:0.40 [[ 6.47189382e-01 -7.62325343e-01 -2.44462779e-03 1.02044089e+02] [ 7.62319952e-01 6.47193999e-01 -2.86697377e-03 4.85514440e+01] [ 3.76771520e-03 -8.11355561e-06 9.99992902e-01 3.97026358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.410888479 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:102.06, Y:48.57, Z:0.40 [[ 6.44424691e-01 -7.64663870e-01 -2.44609435e-03 1.02062166e+02] [ 7.64658501e-01 6.44429333e-01 -2.86575614e-03 4.85727627e+01] [ 3.76767513e-03 -2.36628221e-05 9.99992902e-01 3.98551865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.440888479 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:102.08, Y:48.59, Z:0.40 [[ 6.43794350e-01 -7.65194662e-01 -2.44213785e-03 1.02080168e+02] [ 7.65189284e-01 6.43798982e-01 -2.86903435e-03 4.85930585e+01] [ 3.76761563e-03 -2.16296085e-05 9.99992902e-01 3.97241238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.470888479 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:102.10, Y:48.61, Z:0.40 [[ 6.45178282e-01 -7.64028152e-01 -2.44262621e-03 1.02102475e+02] [ 7.64022767e-01 6.45182906e-01 -2.86862842e-03 4.86133401e+01] [ 3.76765355e-03 -1.54452765e-05 9.99992902e-01 3.95646438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500888479 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:102.11, Y:48.63, Z:0.39 [[ 6.39179793e-01 -7.69053420e-01 -2.45544920e-03 1.02106941e+02] [ 7.69048112e-01 6.39184506e-01 -2.85797081e-03 4.86278045e+01] [ 3.76741731e-03 -6.16013790e-05 9.99992901e-01 3.93331612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530888479 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:102.14, Y:48.65, Z:0.40 [[ 6.43773568e-01 -7.65212404e-01 -2.35990508e-03 1.02135687e+02] [ 7.65206769e-01 6.43777888e-01 -2.93785608e-03 4.86500557e+01] [ 3.76733863e-03 8.54987492e-05 9.99992900e-01 3.96398098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560888479 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:102.15, Y:48.67, Z:0.40 [[ 6.43116902e-01 -7.65764203e-01 -2.41556315e-03 1.02152813e+02] [ 7.65758745e-01 6.43121439e-01 -2.89127290e-03 4.86703915e+01] [ 3.76753373e-03 9.68786497e-06 9.99992903e-01 3.96417004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590888479 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:102.17, Y:48.69, Z:0.40 [[ 6.42809956e-01 -7.66021914e-01 -2.40577286e-03 1.02172113e+02] [ 7.66016427e-01 6.42814457e-01 -2.89945944e-03 4.86926846e+01] [ 3.76751505e-03 2.09398688e-05 9.99992903e-01 3.97824709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620888479 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:102.20, Y:48.71, Z:0.40 [[ 6.46495732e-01 -7.62913775e-01 -2.41671345e-03 1.02198002e+02] [ 7.62908301e-01 6.46500248e-01 -2.89031154e-03 4.87104977e+01] [ 3.76746434e-03 2.48433221e-05 9.99992903e-01 3.96235972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650888479 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:102.21, Y:48.73, Z:0.39 [[ 6.42430175e-01 -7.66340351e-01 -2.43669573e-03 1.02212995e+02] [ 7.66334963e-01 6.42434796e-01 -2.87358333e-03 4.87342543e+01] [ 3.76756097e-03 -2.12484906e-05 9.99992902e-01 3.94804821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680888479 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:102.23, Y:48.76, Z:0.40 [[ 6.41090909e-01 -7.67461102e-01 -2.42967673e-03 1.02229774e+02] [ 7.67455701e-01 6.41095512e-01 -2.87945249e-03 4.87554331e+01] [ 3.76752263e-03 -1.86784462e-05 9.99992903e-01 3.96561640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71088847899999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:102.25, Y:48.78, Z:0.39 [[ 6.44094187e-01 -7.64942378e-01 -2.41572684e-03 1.02254031e+02] [ 7.64936915e-01 6.44098717e-01 -2.89110862e-03 4.87751122e+01] [ 3.76749806e-03 1.42676203e-05 9.99992903e-01 3.93459711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74088847899999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:102.27, Y:48.80, Z:0.39 [[ 6.39322397e-01 -7.68934906e-01 -2.44611650e-03 1.02267628e+02] [ 7.68929567e-01 6.39327075e-01 -2.86570115e-03 4.87968342e+01] [ 3.76740615e-03 -4.87843782e-05 9.99992902e-01 3.94658526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77088847899999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:102.29, Y:48.82, Z:0.39 [[ 6.40480904e-01 -7.67970277e-01 -2.42206797e-03 1.02285060e+02] [ 7.67964855e-01 6.40485483e-01 -2.88578386e-03 4.88156219e+01] [ 3.76749560e-03 -1.17736189e-05 9.99992903e-01 3.94807266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.800888479 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:102.30, Y:48.84, Z:0.39 [[ 6.40724999e-01 -7.67766683e-01 -2.40749511e-03 1.02302353e+02] [ 7.67761214e-01 6.40729522e-01 -2.89794914e-03 4.88350649e+01] [ 3.76750199e-03 8.40708783e-06 9.99992903e-01 3.93108724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.830888479 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:102.32, Y:48.86, Z:0.40 [[ 6.41978778e-01 -7.66718674e-01 -2.39244637e-03 1.02323343e+02] [ 7.66713151e-01 6.41983235e-01 -2.91052728e-03 4.88577956e+01] [ 3.76746608e-03 3.41766505e-05 9.99992902e-01 3.96971056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860888479 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:102.34, Y:48.88, Z:0.40 [[ 6.44187920e-01 -7.64863442e-01 -2.41620736e-03 1.02344945e+02] [ 7.64857980e-01 6.44192451e-01 -2.89066631e-03 4.88774376e+01] [ 3.76746752e-03 1.40768395e-05 9.99992903e-01 3.95008628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890888479 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:102.36, Y:48.90, Z:0.40 [[ 6.45582690e-01 -7.63686517e-01 -2.42777091e-03 1.02364365e+02] [ 7.63681083e-01 6.45587255e-01 -2.88100320e-03 4.88983899e+01] [ 3.76752125e-03 5.88307639e-06 9.99992903e-01 3.95703722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920888479 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:102.38, Y:48.92, Z:0.40 [[ 6.44973176e-01 -7.64201363e-01 -2.42460204e-03 1.02380695e+02] [ 7.64195923e-01 6.44977733e-01 -2.88364998e-03 4.89203790e+01] [ 3.76750357e-03 7.00589553e-06 9.99992903e-01 3.95099007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950888479 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:102.40, Y:48.94, Z:0.39 [[ 6.46596652e-01 -7.62828257e-01 -2.41232403e-03 1.02398103e+02] [ 7.62822769e-01 6.46601152e-01 -2.89389799e-03 4.89408626e+01] [ 3.76735866e-03 3.10090577e-05 9.99992903e-01 3.94219974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980888479 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:102.42, Y:48.96, Z:0.40 [[ 6.50323014e-01 -7.59653989e-01 -2.40730908e-03 1.02421808e+02] [ 7.59648463e-01 6.50327467e-01 -2.89808108e-03 4.89617062e+01] [ 3.76707807e-03 5.59801838e-05 9.99992903e-01 3.97105701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010888479 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:102.44, Y:48.99, Z:0.40 [[ 6.49409546e-01 -7.60434988e-01 -2.42302633e-03 1.02443645e+02] [ 7.60429516e-01 6.49414065e-01 -2.88499060e-03 4.89854938e+01] [ 3.76739517e-03 3.09996930e-05 9.99992903e-01 3.98165980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040888479 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:102.46, Y:49.00, Z:0.40 [[ 6.48474512e-01 -7.61232419e-01 -2.45203677e-03 1.02455120e+02] [ 7.61227043e-01 6.48479148e-01 -2.86079416e-03 4.90040096e+01] [ 3.76782397e-03 -1.14046051e-05 9.99992902e-01 3.96181914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070888479 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:102.47, Y:49.03, Z:0.40 [[ 6.49165980e-01 -7.60642985e-01 -2.40414816e-03 1.02473545e+02] [ 7.60637456e-01 6.49170430e-01 -2.90065990e-03 4.90254600e+01] [ 3.76706849e-03 5.43245872e-05 9.99992903e-01 3.95104217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10088847899999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:102.50, Y:49.05, Z:0.39 [[ 6.52152910e-01 -7.58083648e-01 -2.40120366e-03 1.02502001e+02] [ 7.58078092e-01 6.52157326e-01 -2.90311116e-03 4.90494386e+01] [ 3.76676366e-03 7.29725068e-05 9.99992903e-01 3.94615658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13088847899999 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:102.51, Y:49.07, Z:0.39 [[ 6.49638498e-01 -7.60239255e-01 -2.46904210e-03 1.02508521e+02] [ 7.60233926e-01 6.49643190e-01 -2.84662535e-03 4.90673581e+01] [ 3.76811272e-03 -2.77721506e-05 9.99992900e-01 3.94101883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.160888479 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:102.53, Y:49.09, Z:0.40 [[ 6.51027068e-01 -7.59050766e-01 -2.38547808e-03 1.02531274e+02] [ 7.59045170e-01 6.51031433e-01 -2.91598459e-03 4.90884490e+01] [ 3.76640155e-03 8.76992808e-05 9.99992903e-01 3.95248673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.190888479 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:102.55, Y:49.11, Z:0.39 [[ 6.52466011e-01 -7.57814169e-01 -2.40636412e-03 1.02553014e+02] [ 7.57808628e-01 6.52470445e-01 -2.89864567e-03 4.91104972e+01] [ 3.76671622e-03 6.77042808e-05 9.99992904e-01 3.94485841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.220888479 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:102.56, Y:49.13, Z:0.39 [[ 6.49171724e-01 -7.60638024e-01 -2.42270162e-03 1.02564682e+02] [ 7.60632553e-01 6.49176244e-01 -2.88507051e-03 4.91303685e+01] [ 3.76725467e-03 3.01204812e-05 9.99992903e-01 3.91780773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250888479 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:102.58, Y:49.15, Z:0.39 [[ 6.48468666e-01 -7.61237608e-01 -2.38614192e-03 1.02583552e+02] [ 7.61232029e-01 6.48473052e-01 -2.91540835e-03 4.91509385e+01] [ 3.76666721e-03 7.41433074e-05 9.99992903e-01 3.91902689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:102.60, Y:49.17, Z:0.39 [[ 6.46201221e-01 -7.63163350e-01 -2.38399427e-03 1.02604724e+02] [ 7.63157777e-01 6.46205615e-01 -2.91718951e-03 4.91723646e+01] [ 3.76684260e-03 6.57276563e-05 9.99992903e-01 3.93066578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310888479 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:102.62, Y:49.19, Z:0.39 [[ 6.45668947e-01 -7.63613662e-01 -2.40523835e-03 1.02623250e+02] [ 7.63608158e-01 6.45673426e-01 -2.89956720e-03 4.91926526e+01] [ 3.76714761e-03 3.55008783e-05 9.99992904e-01 3.92198410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:102.64, Y:49.21, Z:0.39 [[ 6.45150638e-01 -7.64051615e-01 -2.40481360e-03 1.02642180e+02] [ 7.64046113e-01 6.45155119e-01 -2.89991943e-03 4.92131908e+01] [ 3.76716593e-03 3.34963857e-05 9.99992904e-01 3.93642876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370888479 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:102.66, Y:49.23, Z:0.39 [[ 6.44943083e-01 -7.64226825e-01 -2.40401720e-03 1.02660687e+02] [ 7.64221321e-01 6.44947563e-01 -2.90057949e-03 4.92322006e+01] [ 3.76716569e-03 3.35074746e-05 9.99992904e-01 3.92484465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400888479 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:102.68, Y:49.25, Z:0.39 [[ 6.44134501e-01 -7.64908491e-01 -2.39686789e-03 1.02679756e+02] [ 7.64902970e-01 6.44138960e-01 -2.90650164e-03 4.92541210e+01] [ 3.76712377e-03 3.88066155e-05 9.99992904e-01 3.94291442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430888479 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:102.70, Y:49.27, Z:0.39 [[ 6.44851428e-01 -7.64304168e-01 -2.40299035e-03 1.02696933e+02] [ 7.64298661e-01 6.44855905e-01 -2.90143097e-03 4.92737709e+01] [ 3.76715830e-03 3.43895997e-05 9.99992904e-01 3.90592535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46088847899999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:102.71, Y:49.30, Z:0.39 [[ 6.44689451e-01 -7.64440872e-01 -2.38033018e-03 1.02714440e+02] [ 7.64435297e-01 6.44693842e-01 -2.92018130e-03 4.92950719e+01] [ 3.76689014e-03 6.30016726e-05 9.99992903e-01 3.90684053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49088847899999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:102.73, Y:49.31, Z:0.39 [[ 6.44926059e-01 -7.64241270e-01 -2.37912346e-03 1.02732622e+02] [ 7.64235690e-01 6.44930444e-01 -2.92117925e-03 4.93113129e+01] [ 3.76685488e-03 6.57335620e-05 9.99992903e-01 3.91425689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52088847899999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:102.75, Y:49.34, Z:0.39 [[ 6.43246644e-01 -7.65655411e-01 -2.35492680e-03 1.02752318e+02] [ 7.65649767e-01 6.43250949e-01 -2.94117390e-03 4.93366383e+01] [ 3.76673461e-03 8.88510845e-05 9.99992902e-01 3.90571544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.550888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:102.77, Y:49.36, Z:0.39 [[ 6.43284095e-01 -7.65623864e-01 -2.38157052e-03 1.02772146e+02] [ 7.65618301e-01 6.43288502e-01 -2.91915546e-03 4.93572946e+01] [ 3.76701202e-03 5.44723013e-05 9.99992903e-01 3.93606912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.580888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:102.79, Y:49.38, Z:0.40 [[ 6.40425497e-01 -7.68016586e-01 -2.38891885e-03 1.02792397e+02] [ 7.68011062e-01 6.40429951e-01 -2.91307464e-03 4.93775497e+01] [ 3.76722482e-03 3.08911711e-05 9.99992904e-01 3.95801683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:102.81, Y:49.40, Z:0.40 [[ 6.39883177e-01 -7.68468478e-01 -2.39131861e-03 1.02811383e+02] [ 7.68462964e-01 6.39887645e-01 -2.91108885e-03 4.93995403e+01] [ 3.76725525e-03 2.51169917e-05 9.99992904e-01 3.97964052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:102.83, Y:49.42, Z:0.40 [[ 6.39002347e-01 -7.69201035e-01 -2.40175055e-03 1.02829256e+02] [ 7.69195559e-01 6.39006861e-01 -2.90245653e-03 4.94214851e+01] [ 3.76730765e-03 7.26067725e-06 9.99992904e-01 3.98410620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:102.85, Y:49.44, Z:0.40 [[ 6.38584090e-01 -7.69548306e-01 -2.40095070e-03 1.02846465e+02] [ 7.69542830e-01 6.38588604e-01 -2.90311803e-03 4.94431105e+01] [ 3.76730932e-03 6.25059383e-06 9.99992904e-01 3.98837623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:102.86, Y:49.46, Z:0.40 [[ 6.38852251e-01 -7.69325706e-01 -2.40014322e-03 1.02863332e+02] [ 7.69320226e-01 6.38856759e-01 -2.90378546e-03 4.94640119e+01] [ 3.76730451e-03 8.61115001e-06 9.99992904e-01 3.95782302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:102.88, Y:49.49, Z:0.40 [[ 6.38484529e-01 -7.69630938e-01 -2.39272691e-03 1.02881329e+02] [ 7.69625437e-01 6.38489013e-01 -2.90991166e-03 4.94865246e+01] [ 3.76728788e-03 1.64300832e-05 9.99992904e-01 3.96032399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760888479 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:102.90, Y:49.51, Z:0.40 [[ 6.37874305e-01 -7.70136768e-01 -2.39358822e-03 1.02898539e+02] [ 7.70131274e-01 6.37878796e-01 -2.90920052e-03 4.95084467e+01] [ 3.76730146e-03 1.23271131e-05 9.99992904e-01 3.96622432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:102.92, Y:49.53, Z:0.40 [[ 6.38139662e-01 -7.69916890e-01 -2.39886017e-03 1.02916306e+02] [ 7.69911410e-01 6.38144170e-01 -2.90485027e-03 4.95305553e+01] [ 3.76731192e-03 6.79035063e-06 9.99992904e-01 3.98386408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820888479 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:102.93, Y:49.55, Z:0.40 [[ 6.39219035e-01 -7.69020990e-01 -2.39637872e-03 1.02932083e+02] [ 7.69015496e-01 6.39223526e-01 -2.90689676e-03 4.95516380e+01] [ 3.76728628e-03 1.52913690e-05 9.99992904e-01 3.96874024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85088847899999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:102.95, Y:49.58, Z:0.40 [[ 6.38549815e-01 -7.69576796e-01 -2.38509222e-03 1.02949656e+02] [ 7.69571271e-01 6.38554269e-01 -2.91619556e-03 4.95753278e+01] [ 3.76724725e-03 2.66376869e-05 9.99992904e-01 3.97309491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88088847899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:102.97, Y:49.60, Z:0.39 [[ 6.39126527e-01 -7.69097847e-01 -2.40493506e-03 1.02965158e+02] [ 7.69092380e-01 6.39131052e-01 -2.89985163e-03 4.95992210e+01] [ 3.76733832e-03 3.75486808e-06 9.99992904e-01 3.93732790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.910888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:102.98, Y:49.62, Z:0.40 [[ 6.39856442e-01 -7.68490707e-01 -2.40168660e-03 1.02981943e+02] [ 7.68485225e-01 6.39860949e-01 -2.90252541e-03 4.96212786e+01] [ 3.76730927e-03 1.15389172e-05 9.99992904e-01 3.98581021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.940888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:102.99, Y:49.64, Z:0.39 [[ 6.36856700e-01 -7.70978479e-01 -2.39324177e-03 1.02992327e+02] [ 7.70972990e-01 6.36861197e-01 -2.90947187e-03 4.96419731e+01] [ 3.76730302e-03 7.79189675e-06 9.99992904e-01 3.93037232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.970888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:103.02, Y:49.66, Z:0.40 [[ 6.40823615e-01 -7.67684565e-01 -2.34590700e-03 1.03017090e+02] [ 7.67678908e-01 6.40827903e-01 -2.94836549e-03 4.96649839e+01] [ 3.76673734e-03 8.84789064e-05 9.99992902e-01 3.98435963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:103.03, Y:49.69, Z:0.40 [[ 6.41189288e-01 -7.67379027e-01 -2.39285352e-03 1.03034643e+02] [ 7.67373511e-01 6.41193752e-01 -2.90975881e-03 4.96864647e+01] [ 3.76717061e-03 2.94937697e-05 9.99992904e-01 3.99088641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.05, Y:49.71, Z:0.40 [[ 6.39627270e-01 -7.68681490e-01 -2.39234407e-03 1.03047841e+02] [ 7.68675981e-01 6.39631743e-01 -2.91017760e-03 4.97085876e+01] [ 3.76721886e-03 2.24915293e-05 9.99992904e-01 3.95781601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.07, Y:49.73, Z:0.40 [[ 6.41890556e-01 -7.66792615e-01 -2.36627860e-03 1.03069204e+02] [ 7.66787014e-01 6.41894914e-01 -2.93158652e-03 4.97315572e+01] [ 3.76682109e-03 6.73260008e-05 9.99992903e-01 4.01332880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:103.09, Y:49.75, Z:0.40 [[ 6.41960814e-01 -7.66733718e-01 -2.39151959e-03 1.03085851e+02] [ 7.66728193e-01 6.41965268e-01 -2.91084881e-03 4.97530980e+01] [ 3.76711845e-03 3.50053771e-05 9.99992904e-01 4.00630393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:103.10, Y:49.78, Z:0.40 [[ 6.41673795e-01 -7.66973939e-01 -2.39106198e-03 1.03102681e+02] [ 7.66968415e-01 6.41678249e-01 -2.91122466e-03 4.97750339e+01] [ 3.76712591e-03 3.41875664e-05 9.99992904e-01 4.00531105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:49.80, Z:0.40 [[ 6.41683576e-01 -7.66965759e-01 -2.39029345e-03 1.03119099e+02] [ 7.66960232e-01 6.41688027e-01 -2.91185554e-03 4.97966960e+01] [ 3.76711618e-03 3.52298550e-05 9.99992904e-01 3.99793515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:49.82, Z:0.40 [[ 6.41163634e-01 -7.67400472e-01 -2.38959841e-03 1.03136396e+02] [ 7.67394946e-01 6.41168086e-01 -2.91242580e-03 4.98184129e+01] [ 3.76713118e-03 3.35757721e-05 9.99992904e-01 4.00347719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21088847899999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:103.15, Y:49.84, Z:0.40 [[ 6.39970641e-01 -7.68395648e-01 -2.38881520e-03 1.03154019e+02] [ 7.68390127e-01 6.39975099e-01 -2.91306806e-03 4.98391104e+01] [ 3.76717107e-03 2.87360203e-05 9.99992904e-01 4.00632320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24088847899999 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:103.17, Y:49.86, Z:0.40 [[ 6.39985242e-01 -7.68383490e-01 -2.38811591e-03 1.03170376e+02] [ 7.68377966e-01 6.39989697e-01 -2.91364122e-03 4.98582910e+01] [ 3.76716339e-03 2.97117365e-05 9.99992904e-01 3.98485229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.19, Y:49.88, Z:0.40 [[ 6.37934865e-01 -7.70086676e-01 -2.37076057e-03 1.03189171e+02] [ 7.70081111e-01 6.37939269e-01 -2.92786263e-03 4.98815208e+01] [ 3.76710926e-03 4.21077187e-05 9.99992904e-01 4.00976115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:49.90, Z:0.40 [[ 6.38489795e-01 -7.69626587e-01 -2.38729837e-03 1.03204583e+02] [ 7.69621069e-01 6.38494257e-01 -2.91431548e-03 4.98999075e+01] [ 3.76721098e-03 2.34455670e-05 9.99992904e-01 3.99481889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:49.92, Z:0.40 [[ 6.35893706e-01 -7.71773025e-01 -2.36477494e-03 1.03224401e+02] [ 7.71767454e-01 6.35898102e-01 -2.93275329e-03 4.99238425e+01] [ 3.76717577e-03 3.98630258e-05 9.99992903e-01 4.02001293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.24, Y:49.95, Z:0.40 [[ 6.35545639e-01 -7.72059613e-01 -2.38646297e-03 1.03241614e+02] [ 7.72054110e-01 6.35550119e-01 -2.91499764e-03 4.99450120e+01] [ 3.76726878e-03 1.01354927e-05 9.99992904e-01 4.02185212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.26, Y:49.97, Z:0.40 [[ 6.35228759e-01 -7.72320356e-01 -2.38574094e-03 1.03259014e+02] [ 7.72314853e-01 6.35233239e-01 -2.91558846e-03 4.99671414e+01] [ 3.76727026e-03 9.52247515e-06 9.99992904e-01 4.02536909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:49.99, Z:0.40 [[ 6.35020665e-01 -7.72491468e-01 -2.38496957e-03 1.03275856e+02] [ 7.72485963e-01 6.35025143e-01 -2.91621930e-03 4.99883852e+01] [ 3.76727017e-03 9.50400002e-06 9.99992904e-01 4.01252983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:50.01, Z:0.40 [[ 6.34838437e-01 -7.72641232e-01 -2.38430513e-03 1.03293584e+02] [ 7.72635727e-01 6.34842914e-01 -2.91676246e-03 5.00107408e+01] [ 3.76727015e-03 9.47359395e-06 9.99992904e-01 4.00367701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.31, Y:50.03, Z:0.40 [[ 6.34837476e-01 -7.72642024e-01 -2.38354832e-03 1.03311544e+02] [ 7.72636517e-01 6.34841951e-01 -2.91738078e-03 5.00329218e+01] [ 3.76726745e-03 1.04461824e-05 9.99992904e-01 4.00561564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.33, Y:50.05, Z:0.40 [[ 6.34276744e-01 -7.73102408e-01 -2.38276111e-03 1.03329505e+02] [ 7.73096902e-01 6.34281220e-01 -2.91802358e-03 5.00537910e+01] [ 3.76727169e-03 8.72926440e-06 9.99992904e-01 4.00333223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:50.07, Z:0.40 [[ 6.33931247e-01 -7.73385737e-01 -2.38222623e-03 1.03347266e+02] [ 7.73380231e-01 6.33935723e-01 -2.91846019e-03 5.00745133e+01] [ 3.76727379e-03 7.73643020e-06 9.99992904e-01 4.00516864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:50.10, Z:0.40 [[ 6.32130560e-01 -7.74858266e-01 -2.37113930e-03 1.03366401e+02] [ 7.74852736e-01 6.32135007e-01 -2.92750383e-03 5.00969858e+01] [ 3.76728070e-03 1.32808597e-05 9.99992904e-01 4.02449059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:50.12, Z:0.40 [[ 6.29255722e-01 -7.77194677e-01 -2.38126010e-03 1.03383736e+02] [ 7.77189194e-01 6.29260228e-01 -2.91924820e-03 5.01176305e+01] [ 3.76725643e-03 -1.37359859e-05 9.99992904e-01 4.04063077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:50.14, Z:0.40 [[ 6.27862914e-01 -7.78320303e-01 -2.38055419e-03 1.03401050e+02] [ 7.78314826e-01 6.27867427e-01 -2.91982373e-03 5.01393352e+01] [ 3.76723052e-03 -1.95715871e-05 9.99992904e-01 4.04550168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.660888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:103.42, Y:50.16, Z:0.40 [[ 6.27211454e-01 -7.78845382e-01 -2.37977877e-03 1.03418723e+02] [ 7.78839907e-01 6.27215968e-01 -2.92045559e-03 5.01612227e+01] [ 3.76721860e-03 -2.17234758e-05 9.99992904e-01 4.03590173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:50.18, Z:0.40 [[ 6.25231490e-01 -7.80435731e-01 -2.37755268e-03 1.03437326e+02] [ 7.80430261e-01 6.25236010e-01 -2.92226878e-03 5.01839730e+01] [ 3.76717452e-03 -2.84195954e-05 9.99992904e-01 4.03934824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:50.21, Z:0.41 [[ 6.25201358e-01 -7.80459830e-01 -2.39062184e-03 1.03454821e+02] [ 7.80454400e-01 6.25205927e-01 -2.91162744e-03 5.02051501e+01] [ 3.76703920e-03 -4.54179099e-05 9.99992904e-01 4.06003586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:50.23, Z:0.41 [[ 6.25822986e-01 -7.79961497e-01 -2.37776122e-03 1.03476063e+02] [ 7.79956024e-01 6.25827502e-01 -2.92209237e-03 5.02269046e+01] [ 3.76718790e-03 -2.58366137e-05 9.99992904e-01 4.08726121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:50.25, Z:0.41 [[ 6.24029749e-01 -7.81396924e-01 -2.39179234e-03 1.03489050e+02] [ 7.81391504e-01 6.24034330e-01 -2.91067833e-03 5.02499418e+01] [ 3.76695562e-03 -5.25763430e-05 9.99992904e-01 4.05816222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:50.27, Z:0.41 [[ 6.23841286e-01 -7.81547441e-01 -2.37638166e-03 1.03506069e+02] [ 7.81541975e-01 6.23845811e-01 -2.92320623e-03 5.02726878e+01] [ 3.76712010e-03 -3.36252840e-05 9.99992904e-01 4.06052943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.52, Y:50.29, Z:0.41 [[ 6.23565389e-01 -7.81767589e-01 -2.37558012e-03 1.03522196e+02] [ 7.81762122e-01 6.23569913e-01 -2.92385747e-03 5.02946290e+01] [ 3.76711729e-03 -3.39222310e-05 9.99992904e-01 4.06205542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:50.32, Z:0.41 [[ 6.23212720e-01 -7.82048762e-01 -2.37485906e-03 1.03538926e+02] [ 7.82043295e-01 6.23217244e-01 -2.92444303e-03 5.03176783e+01] [ 3.76711017e-03 -3.46925056e-05 9.99992904e-01 4.06706932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:50.34, Z:0.41 [[ 6.25435792e-01 -7.80272025e-01 -2.37406651e-03 1.03551797e+02] [ 7.80266543e-01 6.25440298e-01 -2.92508628e-03 5.03381636e+01] [ 3.76719986e-03 -2.29510151e-05 9.99992904e-01 4.05247971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:50.36, Z:0.41 [[ 6.23900873e-01 -7.81499942e-01 -2.35387605e-03 1.03567833e+02] [ 7.81494407e-01 6.23905313e-01 -2.94148700e-03 5.03606724e+01] [ 3.76736770e-03 -4.34465891e-06 9.99992903e-01 4.05528808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:50.39, Z:0.41 [[ 6.25795753e-01 -7.79983437e-01 -2.34790165e-03 1.03586642e+02] [ 7.79977873e-01 6.25800158e-01 -2.94634509e-03 5.03853793e+01] [ 3.76741760e-03 1.24989124e-05 9.99992903e-01 4.07472452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.60, Y:50.41, Z:0.41 [[ 6.26214682e-01 -7.79647048e-01 -2.37740896e-03 1.03603119e+02] [ 7.79641572e-01 6.26219195e-01 -2.92234004e-03 5.04076790e+01] [ 3.76717291e-03 -2.35146158e-05 9.99992904e-01 4.08956751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.62, Y:50.43, Z:0.41 [[ 6.28191373e-01 -7.78055237e-01 -2.37660082e-03 1.03617541e+02] [ 7.78049746e-01 6.28195868e-01 -2.92299711e-03 5.04300652e+01] [ 3.76722402e-03 -1.29121014e-05 9.99992904e-01 4.08217209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.63, Y:50.45, Z:0.41 [[ 6.27894777e-01 -7.78294650e-01 -2.36345976e-03 1.03634505e+02] [ 7.78289121e-01 6.27899226e-01 -2.93367630e-03 5.04543188e+01] [ 3.76727913e-03 2.58500772e-06 9.99992904e-01 4.11075636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:103.65, Y:50.48, Z:0.41 [[ 6.28552960e-01 -7.77763159e-01 -2.37578928e-03 1.03650670e+02] [ 7.77757664e-01 6.28557450e-01 -2.92365723e-03 5.04777430e+01] [ 3.76723294e-03 -1.01149116e-05 9.99992904e-01 4.11635441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:103.66, Y:50.50, Z:0.41 [[ 6.31282430e-01 -7.75549388e-01 -2.37496069e-03 1.03664507e+02] [ 7.75543875e-01 6.31286898e-01 -2.92433016e-03 5.05013049e+01] [ 3.76724403e-03 4.19203836e-06 9.99992904e-01 4.12215353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.68, Y:50.52, Z:0.41 [[ 6.32528372e-01 -7.74533550e-01 -2.37450384e-03 1.03680032e+02] [ 7.74528028e-01 6.32532829e-01 -2.92470107e-03 5.05242661e+01] [ 3.76723073e-03 1.08366245e-05 9.99992904e-01 4.12575430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.70, Y:50.55, Z:0.41 [[ 6.33668891e-01 -7.73600738e-01 -2.37368363e-03 1.03695273e+02] [ 7.73595207e-01 6.33673337e-01 -2.92536660e-03 5.05474309e+01] [ 3.76720579e-03 1.74435260e-05 9.99992904e-01 4.11856373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20088847899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:103.71, Y:50.57, Z:0.41 [[ 6.36535089e-01 -7.71244092e-01 -2.37286929e-03 1.03708552e+02] [ 7.71238542e-01 6.36539511e-01 -2.92602699e-03 5.05716288e+01] [ 3.76710609e-03 3.24706034e-05 9.99992904e-01 4.10663024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:103.72, Y:50.59, Z:0.41 [[ 6.37269225e-01 -7.70637597e-01 -2.37246346e-03 1.03724019e+02] [ 7.70632042e-01 6.37273641e-01 -2.92635601e-03 5.05947739e+01] [ 3.76706839e-03 3.65802652e-05 9.99992904e-01 4.11691943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:103.74, Y:50.62, Z:0.41 [[ 6.37670340e-01 -7.70305727e-01 -2.37164538e-03 1.03739535e+02] [ 7.70300166e-01 6.37674749e-01 -2.92701886e-03 5.06171817e+01] [ 3.76703776e-03 3.95942865e-05 9.99992904e-01 4.11442179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290888479 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:103.76, Y:50.64, Z:0.41 [[ 6.37712442e-01 -7.70270874e-01 -2.37108888e-03 1.03755509e+02] [ 7.70265312e-01 6.37716849e-01 -2.92746959e-03 5.06398596e+01] [ 3.76702789e-03 4.05162677e-05 9.99992904e-01 4.12041552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.320888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:103.77, Y:50.66, Z:0.41 [[ 6.37562382e-01 -7.70395088e-01 -2.37029073e-03 1.03772178e+02] [ 7.70389524e-01 6.37566786e-01 -2.92811569e-03 5.06628429e+01] [ 3.76702459e-03 4.08092643e-05 9.99992904e-01 4.13256468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.350888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:103.79, Y:50.69, Z:0.41 [[ 6.37344606e-01 -7.70575265e-01 -2.36946129e-03 1.03790107e+02] [ 7.70569700e-01 6.37349009e-01 -2.92878673e-03 5.06851108e+01] [ 3.76702442e-03 4.08113507e-05 9.99992904e-01 4.13363768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.380888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:103.81, Y:50.71, Z:0.41 [[ 6.37319484e-01 -7.70596045e-01 -2.36863328e-03 1.03805406e+02] [ 7.70590478e-01 6.37323884e-01 -2.92945622e-03 5.07091180e+01] [ 3.76701394e-03 4.17532780e-05 9.99992904e-01 4.13521581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.410888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:103.82, Y:50.73, Z:0.41 [[ 6.37536760e-01 -7.70416298e-01 -2.36781124e-03 1.03821148e+02] [ 7.70410728e-01 6.37541156e-01 -2.93012051e-03 5.07315210e+01] [ 3.76698971e-03 4.38723555e-05 9.99992904e-01 4.13902475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.440888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:103.84, Y:50.75, Z:0.41 [[ 6.37443021e-01 -7.70493862e-01 -2.36736405e-03 1.03837268e+02] [ 7.70488290e-01 6.37447415e-01 -2.93048177e-03 5.07546584e+01] [ 3.76698831e-03 4.39888776e-05 9.99992904e-01 4.14410296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.470888479 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:103.85, Y:50.78, Z:0.41 [[ 6.35605931e-01 -7.72010039e-01 -2.36654530e-03 1.03847831e+02] [ 7.72004475e-01 6.35610335e-01 -2.93114281e-03 5.07770468e+01] [ 3.76707233e-03 3.60681884e-05 9.99992904e-01 4.13465252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.500888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:103.87, Y:50.80, Z:0.41 [[ 6.35399708e-01 -7.72179890e-01 -2.32976760e-03 1.03868763e+02] [ 7.72174219e-01 6.35403974e-01 -2.96075554e-03 5.08025437e+01] [ 3.76657948e-03 8.22767269e-05 9.99992903e-01 4.11463525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53088847899997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:103.88, Y:50.82, Z:0.41 [[ 6.35243884e-01 -7.72307940e-01 -2.37777566e-03 1.03884393e+02] [ 7.72302412e-01 6.35248334e-01 -2.92209284e-03 5.08248815e+01] [ 3.76723353e-03 1.98797244e-05 9.99992904e-01 4.14708521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56088847899997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:103.90, Y:50.85, Z:0.42 [[ 6.34389521e-01 -7.73009933e-01 -2.36193629e-03 1.03899129e+02] [ 7.73004363e-01 6.34393917e-01 -2.93484024e-03 5.08474281e+01] [ 3.76705868e-03 3.60448355e-05 9.99992904e-01 4.15077459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59088847899997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:103.92, Y:50.87, Z:0.42 [[ 6.34126216e-01 -7.73225948e-01 -2.36136599e-03 1.03915397e+02] [ 7.73220377e-01 6.34130611e-01 -2.93529904e-03 5.08684529e+01] [ 3.76706384e-03 3.54937660e-05 9.99992904e-01 4.15538322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62088847899997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:103.93, Y:50.89, Z:0.42 [[ 6.32224374e-01 -7.74781755e-01 -2.36080114e-03 1.03930056e+02] [ 7.74776193e-01 6.32228781e-01 -2.93575326e-03 5.08915161e+01] [ 3.76713449e-03 2.69622454e-05 9.99992904e-01 4.17463448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65088847899997 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:103.95, Y:50.91, Z:0.41 [[ 6.33944129e-01 -7.73375301e-01 -2.34222610e-03 1.03952576e+02] [ 7.73369674e-01 6.33948453e-01 -2.95064595e-03 5.09149074e+01] [ 3.76680731e-03 5.91380396e-05 9.99992904e-01 4.14020145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68088847899998 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:103.96, Y:50.94, Z:0.41 [[ 6.32628354e-01 -7.74451842e-01 -2.38963883e-03 1.03964817e+02] [ 7.74446365e-01 6.32632867e-01 -2.91255406e-03 5.09357768e+01] [ 3.76739692e-03 -8.08282415e-06 9.99992903e-01 4.14952173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71088847899998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:103.97, Y:50.95, Z:0.42 [[ 6.30861224e-01 -7.75892117e-01 -2.35350421e-03 1.03974536e+02] [ 7.75886542e-01 6.30865613e-01 -2.94155732e-03 5.09514625e+01] [ 3.76707601e-03 2.96622107e-05 9.99992904e-01 4.16395239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74088847899998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:104.00, Y:50.98, Z:0.42 [[ 6.35975982e-01 -7.71705485e-01 -2.27932953e-03 1.04004507e+02] [ 7.71699662e-01 6.35980049e-01 -3.00169162e-03 5.09780432e+01] [ 3.76602999e-03 1.50045951e-04 9.99992897e-01 4.20209317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77088847899998 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:104.02, Y:51.00, Z:0.42 [[ 6.35269771e-01 -7.72286654e-01 -2.37527700e-03 1.04020243e+02] [ 7.72281120e-01 6.35274211e-01 -2.92374301e-03 5.09996861e+01] [ 3.76691993e-03 2.29839648e-05 9.99992905e-01 4.19183290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80088847899998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:104.04, Y:51.02, Z:0.42 [[ 6.34154230e-01 -7.73202931e-01 -2.37486328e-03 1.04036634e+02] [ 7.73197403e-01 6.34158676e-01 -2.92407902e-03 5.10224036e+01] [ 3.76694662e-03 1.80789533e-05 9.99992905e-01 4.18903942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83088847899998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:104.06, Y:51.05, Z:0.41 [[ 6.36217462e-01 -7.71506127e-01 -2.37403661e-03 1.04064461e+02] [ 7.71500584e-01 6.36221891e-01 -2.92475004e-03 5.10479422e+01] [ 3.76687663e-03 2.92064185e-05 9.99992905e-01 4.13538891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86088847899998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:104.06, Y:51.06, Z:0.41 [[ 6.23312596e-01 -7.81968916e-01 -2.45379802e-03 1.04057183e+02] [ 7.81963698e-01 6.23317411e-01 -2.85992090e-03 5.10641678e+01] [ 3.76586428e-03 -1.36156248e-04 9.99992900e-01 4.09537450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89088847899998 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:104.08, Y:51.09, Z:0.41 [[ 6.26234794e-01 -7.79631146e-01 -2.29333901e-03 1.04084601e+02] [ 7.79625421e-01 6.26238987e-01 -2.98901819e-03 5.10919791e+01] [ 3.76650997e-03 8.38818009e-05 9.99992903e-01 4.10082178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92088847899998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:104.10, Y:51.11, Z:0.42 [[ 6.20427081e-01 -7.84260517e-01 -2.38305403e-03 1.04096989e+02] [ 7.84255096e-01 6.20431654e-01 -2.91670036e-03 5.11142289e+01] [ 3.76597508e-03 -5.93223754e-05 9.99992907e-01 4.16932992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95088847899999 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:104.11, Y:51.14, Z:0.41 [[ 6.17437074e-01 -7.86616730e-01 -2.36228966e-03 1.04114347e+02] [ 7.86611262e-01 6.17441591e-01 -2.93342194e-03 5.11386836e+01] [ 3.76605466e-03 -4.70001967e-05 9.99992907e-01 4.12690282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980888479 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:104.13, Y:51.16, Z:0.42 [[ 6.13326236e-01 -7.89826121e-01 -2.37214019e-03 1.04130907e+02] [ 7.89820707e-01 6.13330818e-01 -2.92549371e-03 5.11644475e+01] [ 3.76553803e-03 -7.92833988e-05 9.99992907e-01 4.19585337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010888479 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:104.13, Y:51.18, Z:0.41 [[ 6.08388031e-01 -7.93636123e-01 -2.38924896e-03 1.04131420e+02] [ 7.93630791e-01 6.08392710e-01 -2.91179024e-03 5.11797514e+01] [ 3.76450356e-03 -1.24683209e-04 9.99992906e-01 4.12139075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040888479 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:104.16, Y:51.21, Z:0.42 [[ 6.13527747e-01 -7.89669928e-01 -2.26025345e-03 1.04163857e+02] [ 7.89664176e-01 6.13531907e-01 -3.01469296e-03 5.12104098e+01] [ 3.76734998e-03 6.47566049e-05 9.99992901e-01 4.17767371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.070888479 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:104.17, Y:51.23, Z:0.42 [[ 6.10786371e-01 -7.91791799e-01 -2.39914169e-03 1.04173576e+02] [ 7.91786485e-01 6.10791070e-01 -2.90352020e-03 5.12323287e+01] [ 3.76435780e-03 -1.26177405e-04 9.99992907e-01 4.22584960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.100888479 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:104.19, Y:51.26, Z:0.42 [[ 6.10885052e-01 -7.91715810e-01 -2.35123005e-03 1.04191940e+02] [ 7.91710348e-01 6.10889574e-01 -2.94181336e-03 5.12576809e+01] [ 3.76542207e-03 -6.43833521e-05 9.99992909e-01 4.16424651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.130888479 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:104.19, Y:51.28, Z:0.41 [[ 6.07712463e-01 -7.94153581e-01 -2.37756317e-03 1.04193235e+02] [ 7.94148218e-01 6.07717103e-01 -2.92077386e-03 5.12762524e+01] [ 3.76442882e-03 -1.13146875e-04 9.99992908e-01 4.12758361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.160888479 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:104.22, Y:51.30, Z:0.42 [[ 6.12146651e-01 -7.90740974e-01 -2.27799055e-03 1.04218050e+02] [ 7.90735281e-01 6.12150889e-01 -3.00086148e-03 5.13017710e+01] [ 3.76737807e-03 3.56798103e-05 9.99992903e-01 4.20740194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.190888479 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:104.23, Y:51.33, Z:0.42 [[ 6.12834357e-01 -7.90207949e-01 -2.33416812e-03 1.04232934e+02] [ 7.90202422e-01 6.12838801e-01 -2.95562823e-03 5.13250584e+01] [ 3.76602972e-03 -3.31547773e-05 9.99992908e-01 4.18929941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.220888479 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:104.25, Y:51.35, Z:0.42 [[ 6.15901309e-01 -7.87819884e-01 -2.32561247e-03 1.04250621e+02] [ 7.87814314e-01 6.15905699e-01 -2.96249809e-03 5.13521050e+01] [ 3.76627288e-03 -7.54434278e-06 9.99992908e-01 4.18381400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.250888479 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:104.27, Y:51.37, Z:0.42 [[ 6.18024721e-01 -7.86155089e-01 -2.37074697e-03 1.04265586e+02] [ 7.86149645e-01 6.18029265e-01 -2.92623961e-03 5.13739870e+01] [ 3.76566917e-03 -5.52734718e-05 9.99992908e-01 4.22742494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28088847899997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:104.28, Y:51.40, Z:0.43 [[ 6.20188481e-01 -7.84449321e-01 -2.34762535e-03 1.04280711e+02] [ 7.84443794e-01 6.20192924e-01 -2.94481183e-03 5.13960824e+01] [ 3.76603627e-03 -1.52417587e-05 9.99992908e-01 4.25591168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31088847899997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:104.30, Y:51.42, Z:0.42 [[ 6.27553364e-01 -7.78570050e-01 -2.33522866e-03 1.04300818e+02] [ 7.78564444e-01 6.27557708e-01 -2.95476782e-03 5.14219092e+01] [ 3.76598447e-03 3.61484805e-05 9.99992908e-01 4.21464096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34088847899997 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:104.31, Y:51.45, Z:0.43 [[ 6.27421691e-01 -7.78676051e-01 -2.37240700e-03 1.04314732e+02] [ 7.78670558e-01 6.27426176e-01 -2.92490882e-03 5.14473395e+01] [ 3.76606670e-03 -1.21722384e-05 9.99992908e-01 4.26850901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37088847899997 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:104.33, Y:51.47, Z:0.43 [[ 6.29538850e-01 -7.76965404e-01 -2.36595797e-03 1.04330174e+02] [ 7.76959879e-01 6.29543296e-01 -2.93007887e-03 5.14696907e+01] [ 3.76604289e-03 6.34407110e-06 9.99992908e-01 4.26926408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40088847899997 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:104.35, Y:51.49, Z:0.43 [[ 6.32063088e-01 -7.74913345e-01 -2.35809458e-03 1.04345334e+02] [ 7.74907782e-01 6.32067486e-01 -2.93637922e-03 5.14928172e+01] [ 3.76591436e-03 2.86710715e-05 9.99992909e-01 4.26090783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43088847899998 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:104.36, Y:51.52, Z:0.43 [[ 6.32970232e-01 -7.74172553e-01 -2.35442739e-03 1.04362917e+02] [ 7.74166974e-01 6.32974610e-01 -2.93931668e-03 5.15155979e+01] [ 3.76583106e-03 3.77800392e-05 9.99992909e-01 4.26848407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46088847899998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:104.38, Y:51.54, Z:0.43 [[ 6.33743228e-01 -7.73539903e-01 -2.35372320e-03 1.04379918e+02] [ 7.73534317e-01 6.33747597e-01 -2.93988047e-03 5.15378240e+01] [ 3.76578128e-03 4.24436669e-05 9.99992909e-01 4.28074677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49088847899998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:104.40, Y:51.56, Z:0.43 [[ 6.36159412e-01 -7.71554060e-01 -2.35291070e-03 1.04398706e+02] [ 7.71548458e-01 6.36163761e-01 -2.94053060e-03 5.15612886e+01] [ 3.76561484e-03 5.52615904e-05 9.99992909e-01 4.29617805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52088847899998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:104.42, Y:51.58, Z:0.43 [[ 6.37596384e-01 -7.70366975e-01 -2.36128997e-03 1.04416653e+02] [ 7.70361390e-01 6.37600754e-01 -2.93382748e-03 5.15829717e+01] [ 3.76568406e-03 5.15511654e-05 9.99992908e-01 4.31249977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55088847899998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:104.43, Y:51.61, Z:0.43 [[ 6.36232249e-01 -7.71493985e-01 -2.35710539e-03 1.04432781e+02] [ 7.71488396e-01 6.36236614e-01 -2.93717373e-03 5.16051469e+01] [ 3.76568861e-03 5.02451930e-05 9.99992909e-01 4.27934532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58088847899998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:104.45, Y:51.63, Z:0.43 [[ 6.37943967e-01 -7.70079195e-01 -2.35106494e-03 1.04451389e+02] [ 7.70073578e-01 6.37948296e-01 -2.94200088e-03 5.16278251e+01] [ 3.76543154e-03 6.63387193e-05 9.99992909e-01 4.28188920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61088847899998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:104.47, Y:51.65, Z:0.43 [[ 6.39465472e-01 -7.68816223e-01 -2.35066988e-03 1.04469999e+02] [ 7.68810597e-01 6.39469788e-01 -2.94231650e-03 5.16499543e+01] [ 3.76528303e-03 7.42898999e-05 9.99992909e-01 4.31211472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64088847899998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:104.49, Y:51.67, Z:0.43 [[ 6.42069637e-01 -7.66642719e-01 -2.34989294e-03 1.04490598e+02] [ 7.66637076e-01 6.42073931e-01 -2.94293691e-03 5.16721360e+01] [ 3.76498615e-03 8.80553868e-05 9.99992909e-01 4.32348016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67088847899998 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:104.51, Y:51.69, Z:0.43 [[ 6.41342960e-01 -7.67250709e-01 -2.35750863e-03 1.04506815e+02] [ 7.67245092e-01 6.41347288e-01 -2.93685747e-03 5.16935417e+01] [ 3.76528774e-03 7.47459438e-05 9.99992908e-01 4.30204730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70088847899999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:104.52, Y:51.71, Z:0.43 [[ 6.42652333e-01 -7.66154333e-01 -2.34869747e-03 1.04524086e+02] [ 7.66148683e-01 6.42656618e-01 -2.94388721e-03 5.17145341e+01] [ 3.76487791e-03 9.24445137e-05 9.99992909e-01 4.28979866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730888479 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:104.54, Y:51.74, Z:0.42 [[ 6.44853433e-01 -7.64302646e-01 -2.34829738e-03 1.04542088e+02] [ 7.64296982e-01 6.44857701e-01 -2.94420632e-03 5.17353614e+01] [ 3.76458233e-03 1.03784954e-04 9.99992909e-01 4.24964847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760888479 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:104.56, Y:51.76, Z:0.43 [[ 6.45971070e-01 -7.63358280e-01 -2.34784329e-03 1.04563803e+02] [ 7.63352609e-01 6.45975328e-01 -2.94456839e-03 5.17578956e+01] [ 3.76440950e-03 1.09873691e-04 9.99992909e-01 4.29091636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790888479 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:104.58, Y:51.78, Z:0.43 [[ 6.45687077e-01 -7.63598450e-01 -2.36769720e-03 1.04579996e+02] [ 7.63592837e-01 6.45691413e-01 -2.92873731e-03 5.17777559e+01] [ 3.76518102e-03 8.30912126e-05 9.99992908e-01 4.29032827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.820888479 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:104.60, Y:51.80, Z:0.43 [[ 6.46078701e-01 -7.63267192e-01 -2.34641445e-03 1.04599963e+02] [ 7.63261516e-01 6.46082952e-01 -2.94569026e-03 5.17973969e+01] [ 3.76432711e-03 1.12219892e-04 9.99992909e-01 4.29733311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.850888479 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:104.62, Y:51.82, Z:0.43 [[ 6.45939285e-01 -7.63385182e-01 -2.34605330e-03 1.04618591e+02] [ 7.63379506e-01 6.45943536e-01 -2.94597787e-03 5.18189343e+01] [ 3.76433381e-03 1.11993826e-04 9.99992909e-01 4.30468467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.880888479 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:104.64, Y:51.84, Z:0.43 [[ 6.44979632e-01 -7.64196162e-01 -2.34523677e-03 1.04638029e+02] [ 7.64190489e-01 6.44983887e-01 -2.94662775e-03 5.18391713e+01] [ 3.76444154e-03 1.08307251e-04 9.99992909e-01 4.29739622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.910888479 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:104.66, Y:51.86, Z:0.43 [[ 6.44148317e-01 -7.64897017e-01 -2.34498413e-03 1.04656541e+02] [ 7.64891348e-01 6.44152577e-01 -2.94682879e-03 5.18599197e+01] [ 3.76454812e-03 1.04536729e-04 9.99992909e-01 4.30100718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.940888479 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:104.68, Y:51.88, Z:0.43 [[ 6.43214135e-01 -7.65682755e-01 -2.34418194e-03 1.04675059e+02] [ 7.65677089e-01 6.43218398e-01 -2.94746679e-03 5.18803506e+01] [ 3.76464544e-03 1.00965893e-04 9.99992909e-01 4.30608767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.970888479 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:104.70, Y:51.90, Z:0.43 [[ 6.40686509e-01 -7.67798999e-01 -2.34393366e-03 1.04696494e+02] [ 7.67793346e-01 6.40690790e-01 -2.94766421e-03 5.19003825e+01] [ 3.76495034e-03 8.88720221e-05 9.99992909e-01 4.34583303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.000888479 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:104.72, Y:51.92, Z:0.43 [[ 6.39076639e-01 -7.69139492e-01 -2.34318090e-03 1.04715334e+02] [ 7.69133846e-01 6.39080930e-01 -2.94826249e-03 5.19213019e+01] [ 3.76510734e-03 8.19459440e-05 9.99992909e-01 4.31743678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03088847899997 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:104.73, Y:51.94, Z:0.43 [[ 6.37283184e-01 -7.70626145e-01 -2.34291440e-03 1.04734165e+02] [ 7.70620508e-01 6.37287486e-01 -2.94847425e-03 5.19427486e+01] [ 3.76528137e-03 7.35151735e-05 9.99992909e-01 4.31727321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06088847899997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:104.75, Y:51.96, Z:0.43 [[ 6.35137093e-01 -7.72395875e-01 -2.34212335e-03 1.04752778e+02] [ 7.72390247e-01 6.35141408e-01 -2.94910249e-03 5.19640660e+01] [ 3.76545412e-03 6.40511527e-05 9.99992909e-01 4.31370674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09088847899997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:104.77, Y:51.98, Z:0.44 [[ 6.31160967e-01 -7.75648341e-01 -2.34171782e-03 1.04774804e+02] [ 7.75642735e-01 6.31165310e-01 -2.94942446e-03 5.19840144e+01] [ 3.76572725e-03 4.52251831e-05 9.99992909e-01 4.35577109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12088847899997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:104.79, Y:52.00, Z:0.44 [[ 6.29327937e-01 -7.77136325e-01 -2.34096355e-03 1.04793443e+02] [ 7.77130726e-01 6.29332290e-01 -2.95002300e-03 5.20035628e+01] [ 3.76581399e-03 3.72971847e-05 9.99992909e-01 4.35113373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15088847899997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:104.81, Y:52.02, Z:0.43 [[ 6.27415243e-01 -7.78681344e-01 -2.34037882e-03 1.04811678e+02] [ 7.78675755e-01 6.27419607e-01 -2.95048682e-03 5.20239123e+01] [ 3.76588861e-03 2.87841586e-05 9.99992909e-01 4.31050880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18088847899998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:104.83, Y:52.04, Z:0.43 [[ 6.24286817e-01 -7.81191715e-01 -2.33980618e-03 1.04830962e+02] [ 7.81186141e-01 6.24291202e-01 -2.95094087e-03 5.20441123e+01] [ 3.76597097e-03 1.44093196e-05 9.99992909e-01 4.33416968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21088847899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:104.85, Y:52.07, Z:0.43 [[ 6.22719964e-01 -7.82441292e-01 -2.33898063e-03 1.04849538e+02] [ 7.82435725e-01 6.22724357e-01 -2.95159508e-03 5.20654912e+01] [ 3.76599007e-03 7.91518048e-06 9.99992909e-01 4.33814466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24088847899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:104.87, Y:52.09, Z:0.43 [[ 6.22498351e-01 -7.82617618e-01 -2.33814206e-03 1.04867230e+02] [ 7.82612050e-01 6.22502742e-01 -2.95225921e-03 5.20879315e+01] [ 3.76598991e-03 7.91833831e-06 9.99992909e-01 4.33921715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27088847899998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:104.89, Y:52.11, Z:0.43 [[ 6.20911054e-01 -7.83877541e-01 -2.33730578e-03 1.04885576e+02] [ 7.83871979e-01 6.20915454e-01 -2.95292114e-03 5.21086836e+01] [ 3.76599784e-03 1.35287127e-06 9.99992909e-01 4.32372073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30088847899998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:104.91, Y:52.13, Z:0.43 [[ 6.17872748e-01 -7.86274638e-01 -2.33687357e-03 1.04906467e+02] [ 7.86269091e-01 6.17877168e-01 -2.95326315e-03 5.21286065e+01] [ 3.76597673e-03 -1.26706415e-05 9.99992909e-01 4.33474157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33088847899998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:104.93, Y:52.15, Z:0.43 [[ 6.16301635e-01 -7.87506722e-01 -2.33614575e-03 1.04925810e+02] [ 7.87501182e-01 6.16306062e-01 -2.95383877e-03 5.21493013e+01] [ 3.76594867e-03 -1.92618752e-05 9.99992909e-01 4.33283332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36088847899998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:104.94, Y:52.17, Z:0.43 [[ 6.14909137e-01 -7.88594509e-01 -2.33531938e-03 1.04944924e+02] [ 7.88588975e-01 6.14913571e-01 -2.95449195e-03 5.21701594e+01] [ 3.76591571e-03 -2.48630189e-05 9.99992909e-01 4.33634147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39088847899998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:104.96, Y:52.19, Z:0.43 [[ 6.13688731e-01 -7.89544610e-01 -2.33448950e-03 1.04963770e+02] [ 7.89539080e-01 6.13693171e-01 -2.95514753e-03 5.21918669e+01] [ 3.76588107e-03 -2.96299551e-05 9.99992909e-01 4.34657959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42088847899998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:104.98, Y:52.21, Z:0.43 [[ 6.13673488e-01 -7.89556460e-01 -2.33374178e-03 1.04982820e+02] [ 7.89550928e-01 6.13677925e-01 -2.95573791e-03 5.22124045e+01] [ 3.76588777e-03 -2.87499920e-05 9.99992909e-01 4.34642368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45088847899999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:105.00, Y:52.23, Z:0.43 [[ 6.14162051e-01 -7.89176489e-01 -2.33347713e-03 1.05001298e+02] [ 7.89170953e-01 6.14166483e-01 -2.95594683e-03 5.22338054e+01] [ 3.76590718e-03 -2.60820099e-05 9.99992909e-01 4.34983516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:105.02, Y:52.25, Z:0.44 [[ 6.14822632e-01 -7.88661960e-01 -2.33310647e-03 1.05019387e+02] [ 7.88656420e-01 6.14827058e-01 -2.95623936e-03 5.22548185e+01] [ 3.76593052e-03 -2.24565271e-05 9.99992909e-01 4.35347659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:105.04, Y:52.28, Z:0.44 [[ 6.17706601e-01 -7.86405185e-01 -2.33229461e-03 1.05037607e+02] [ 7.86399626e-01 6.17711004e-01 -2.95687973e-03 5.22759468e+01] [ 3.76598960e-03 -7.63148334e-06 9.99992909e-01 4.35414752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540888479 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:105.06, Y:52.30, Z:0.43 [[ 6.19515601e-01 -7.84980882e-01 -2.33146377e-03 1.05055108e+02] [ 7.84975310e-01 6.19519988e-01 -2.95753469e-03 5.22977914e+01] [ 3.76599660e-03 2.09738844e-06 9.99992909e-01 4.34748269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.570888479 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:105.07, Y:52.32, Z:0.43 [[ 6.21176121e-01 -7.83667529e-01 -2.33063192e-03 1.05071843e+02] [ 7.83661945e-01 6.21180493e-01 -2.95819007e-03 5.23186779e+01] [ 3.76598059e-03 1.11294864e-05 9.99992909e-01 4.33864311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.600888479 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:105.09, Y:52.34, Z:0.43 [[ 6.23076804e-01 -7.82157188e-01 -2.33016735e-03 1.05089579e+02] [ 7.82151593e-01 6.23081161e-01 -2.95855596e-03 5.23400592e+01] [ 3.76593919e-03 2.08634855e-05 9.99992909e-01 4.33717065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.630888479 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:105.11, Y:52.36, Z:0.43 [[ 6.26571731e-01 -7.79360277e-01 -2.32933897e-03 1.05108135e+02] [ 7.79354659e-01 6.26576059e-01 -2.95920803e-03 5.23624923e+01] [ 3.76579722e-03 3.87749182e-05 9.99992909e-01 4.33785372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.660888479 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:105.13, Y:52.38, Z:0.43 [[ 6.28262801e-01 -7.77997706e-01 -2.32860902e-03 1.05125055e+02] [ 7.77992077e-01 6.28267115e-01 -2.95978231e-03 5.23836206e+01] [ 3.76569232e-03 4.78817554e-05 9.99992909e-01 4.33527525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.690888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.14, Y:52.41, Z:0.43 [[ 6.29193113e-01 -7.77245525e-01 -2.32813831e-03 1.05143107e+02] [ 7.77239890e-01 6.29197418e-01 -2.96015252e-03 5.24056839e+01] [ 3.76562392e-03 5.29856159e-05 9.99992909e-01 4.33818288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.720888479 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:105.16, Y:52.43, Z:0.43 [[ 6.31068762e-01 -7.75723405e-01 -2.32741214e-03 1.05162161e+02] [ 7.75717757e-01 6.31073051e-01 -2.96072336e-03 5.24256093e+01] [ 3.76546949e-03 6.30051022e-05 9.99992909e-01 4.33376381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.750888479 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:105.18, Y:52.45, Z:0.43 [[ 6.31582209e-01 -7.75305423e-01 -2.32693315e-03 1.05180754e+02] [ 7.75299771e-01 6.31586492e-01 -2.96109977e-03 5.24470142e+01] [ 3.76541626e-03 6.61072004e-05 9.99992909e-01 4.34822587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78088847899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:105.20, Y:52.47, Z:0.43 [[ 6.32801100e-01 -7.74310892e-01 -2.32611410e-03 1.05200197e+02] [ 7.74305231e-01 6.32805371e-01 -2.96174304e-03 5.24662031e+01] [ 3.76528739e-03 7.30719333e-05 9.99992909e-01 4.34916622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81088847899997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.22, Y:52.49, Z:0.44 [[ 6.32845803e-01 -7.74274358e-01 -2.32555703e-03 1.05219058e+02] [ 7.74268695e-01 6.32850072e-01 -2.96218039e-03 5.24872622e+01] [ 3.76526925e-03 7.39974207e-05 9.99992909e-01 4.35042206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84088847899997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:105.24, Y:52.51, Z:0.44 [[ 6.33203942e-01 -7.73981501e-01 -2.32477191e-03 1.05238053e+02] [ 7.73975834e-01 6.33208205e-01 -2.96279644e-03 5.25084165e+01] [ 3.76521428e-03 7.67371072e-05 9.99992909e-01 4.35765915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87088847899997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:105.26, Y:52.53, Z:0.44 [[ 6.33214763e-01 -7.73972650e-01 -2.32392609e-03 1.05256227e+02] [ 7.73966981e-01 6.33219023e-01 -2.96345972e-03 5.25292969e+01] [ 3.76519098e-03 7.78643901e-05 9.99992909e-01 4.35353945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90088847899997 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:105.27, Y:52.55, Z:0.43 [[ 6.33566635e-01 -7.73684640e-01 -2.32307396e-03 1.05274931e+02] [ 7.73678966e-01 6.33570889e-01 -2.96412756e-03 5.25488185e+01] [ 3.76513200e-03 8.06588646e-05 9.99992909e-01 4.33241449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93088847899998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:105.29, Y:52.57, Z:0.43 [[ 6.33455078e-01 -7.73775981e-01 -2.32269692e-03 1.05293868e+02] [ 7.73770307e-01 6.33459331e-01 -2.96442298e-03 5.25696576e+01] [ 3.76513334e-03 8.05948831e-05 9.99992909e-01 4.32795323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:105.32, Y:52.59, Z:0.43 [[ 6.32498689e-01 -7.74557950e-01 -2.32185946e-03 1.05315355e+02] [ 7.74552278e-01 6.32502946e-01 -2.96507877e-03 5.25881144e+01] [ 3.76520828e-03 7.70068940e-05 9.99992909e-01 4.33204080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:52.61, Z:0.43 [[ 6.31604109e-01 -7.75287600e-01 -2.32102794e-03 1.05333990e+02] [ 7.75281931e-01 6.31608369e-01 -2.96572953e-03 5.26073977e+01] [ 3.76527400e-03 7.37159398e-05 9.99992909e-01 4.34108473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.35, Y:52.63, Z:0.43 [[ 6.30281227e-01 -7.76363440e-01 -2.32056104e-03 1.05352528e+02] [ 7.76357777e-01 6.30285495e-01 -2.96609481e-03 5.26272079e+01] [ 3.76538354e-03 6.78882655e-05 9.99992909e-01 4.34248454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:52.65, Z:0.44 [[ 6.28588310e-01 -7.77734758e-01 -2.32008823e-03 1.05371366e+02] [ 7.77729103e-01 6.28592589e-01 -2.96646460e-03 5.26479738e+01] [ 3.76551290e-03 6.02848313e-05 9.99992909e-01 4.35123424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:105.39, Y:52.67, Z:0.44 [[ 6.26788109e-01 -7.79186298e-01 -2.31926682e-03 1.05390384e+02] [ 7.79180651e-01 6.26792397e-01 -2.96710667e-03 5.26688979e+01] [ 3.76562767e-03 5.26193462e-05 9.99992909e-01 4.35838211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:52.69, Z:0.44 [[ 6.23723386e-01 -7.81641710e-01 -2.31843422e-03 1.05410478e+02] [ 7.81636076e-01 6.23727694e-01 -2.96775710e-03 5.26872663e+01] [ 3.76579436e-03 3.88876797e-05 9.99992909e-01 4.36527858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:52.71, Z:0.44 [[ 6.21957873e-01 -7.83047273e-01 -2.31786863e-03 1.05429579e+02] [ 7.83041648e-01 6.21962192e-01 -2.96819877e-03 5.27075275e+01] [ 3.76586660e-03 3.11069263e-05 9.99992909e-01 4.37249509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:52.73, Z:0.44 [[ 6.19166454e-01 -7.85256349e-01 -2.31704594e-03 1.05450759e+02] [ 7.85250737e-01 6.19170789e-01 -2.96884084e-03 5.27263286e+01] [ 3.76594828e-03 1.87446268e-05 9.99992909e-01 4.37850215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:52.75, Z:0.44 [[ 6.17921328e-01 -7.86236522e-01 -2.31622740e-03 1.05469912e+02] [ 7.86230914e-01 6.17925669e-01 -2.96947931e-03 5.27475295e+01] [ 3.76596945e-03 1.38150091e-05 9.99992909e-01 4.38151933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:52.77, Z:0.44 [[ 6.16798130e-01 -7.87117975e-01 -2.31540079e-03 1.05487962e+02] [ 7.87112371e-01 6.16802476e-01 -2.97012371e-03 5.27682432e+01] [ 3.76598270e-03 9.48614880e-06 9.99992909e-01 4.38203666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:52.79, Z:0.44 [[ 6.15833357e-01 -7.87873035e-01 -2.31465773e-03 1.05507865e+02] [ 7.87867434e-01 6.15837707e-01 -2.97070267e-03 5.27887506e+01] [ 3.76599004e-03 5.81435431e-06 9.99992909e-01 4.39236728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:52.81, Z:0.44 [[ 6.15506587e-01 -7.88128345e-01 -2.31382857e-03 1.05526317e+02] [ 7.88122744e-01 6.15510936e-01 -2.97134835e-03 5.28096143e+01] [ 3.76599065e-03 5.30356358e-06 9.99992909e-01 4.39567958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:52.83, Z:0.44 [[ 6.15268564e-01 -7.88314178e-01 -2.31299213e-03 1.05544475e+02] [ 7.88308576e-01 6.15272912e-01 -2.97199932e-03 5.28304548e+01] [ 3.76599060e-03 5.22622592e-06 9.99992909e-01 4.39723733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:52.85, Z:0.44 [[ 6.14843370e-01 -7.88645855e-01 -2.31216179e-03 1.05564151e+02] [ 7.88640252e-01 6.14847717e-01 -2.97264517e-03 5.28514447e+01] [ 3.76599169e-03 4.24731428e-06 9.99992909e-01 4.38578569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:52.87, Z:0.44 [[ 6.16131071e-01 -7.87640208e-01 -2.32509091e-03 1.05581470e+02] [ 7.87634636e-01 6.16135458e-01 -2.96259258e-03 5.28715607e+01] [ 3.76602799e-03 -5.97679386e-06 9.99992908e-01 4.39307436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:52.89, Z:0.44 [[ 6.16678082e-01 -7.87212045e-01 -2.31075692e-03 1.05599061e+02] [ 7.87206429e-01 6.16682411e-01 -2.97373090e-03 5.28918753e+01] [ 3.76595993e-03 1.47919606e-05 9.99992909e-01 4.39117689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:52.91, Z:0.44 [[ 6.17452773e-01 -7.86604562e-01 -2.31001263e-03 1.05618420e+02] [ 7.86598939e-01 6.17457094e-01 -2.97430896e-03 5.29125654e+01] [ 3.76593868e-03 1.94418380e-05 9.99992909e-01 4.40222372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:52.93, Z:0.44 [[ 6.17902193e-01 -7.86251580e-01 -2.30919766e-03 1.05636029e+02] [ 7.86245953e-01 6.17906507e-01 -2.97494155e-03 5.29336681e+01] [ 3.76592076e-03 2.26255912e-05 9.99992909e-01 4.40748631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:52.96, Z:0.44 [[ 6.18423911e-01 -7.85841293e-01 -2.30846020e-03 1.05654063e+02] [ 7.85835660e-01 6.18428219e-01 -2.97551368e-03 5.29554244e+01] [ 3.76589845e-03 2.60584611e-05 9.99992909e-01 4.42313686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:52.98, Z:0.44 [[ 6.18929344e-01 -7.85443278e-01 -2.30763220e-03 1.05671198e+02] [ 7.85437640e-01 6.18933645e-01 -2.97615570e-03 5.29764682e+01] [ 3.76587269e-03 2.95289038e-05 9.99992909e-01 4.42788925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:53.00, Z:0.44 [[ 6.20042494e-01 -7.84564838e-01 -2.30688170e-03 1.05689587e+02] [ 7.84559191e-01 6.20046784e-01 -2.97673732e-03 5.29983083e+01] [ 3.76581800e-03 3.58183904e-05 9.99992909e-01 4.44515178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:53.02, Z:0.44 [[ 6.20352841e-01 -7.84319473e-01 -2.30603536e-03 1.05706945e+02] [ 7.84313822e-01 6.20357126e-01 -2.97739282e-03 5.30194337e+01] [ 3.76579263e-03 3.83786842e-05 9.99992909e-01 4.44663025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:53.04, Z:0.44 [[ 6.20214893e-01 -7.84428563e-01 -2.30546032e-03 1.05725227e+02] [ 7.84422912e-01 6.20219177e-01 -2.97783802e-03 5.30412558e+01] [ 3.76579190e-03 3.84435911e-05 9.99992909e-01 4.44881288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:53.06, Z:0.44 [[ 6.19190302e-01 -7.85237581e-01 -2.30463077e-03 1.05743593e+02] [ 7.85231933e-01 6.19194589e-01 -2.97847989e-03 5.30610065e+01] [ 3.76582925e-03 3.45761872e-05 9.99992909e-01 4.44924168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:53.08, Z:0.44 [[ 6.18104052e-01 -7.86092917e-01 -2.30389104e-03 1.05761633e+02] [ 7.86087272e-01 6.18108345e-01 -2.97905197e-03 5.30830441e+01] [ 3.76586593e-03 3.03046740e-05 9.99992909e-01 4.44687736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:53.11, Z:0.44 [[ 6.17221668e-01 -7.86785936e-01 -2.30307204e-03 1.05780049e+02] [ 7.86780294e-01 6.17225964e-01 -2.97968499e-03 5.31055223e+01] [ 3.76589011e-03 2.71144415e-05 9.99992909e-01 4.43303780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:53.13, Z:0.44 [[ 6.15798278e-01 -7.87900473e-01 -2.30781402e-03 1.05797504e+02] [ 7.87894853e-01 6.15802602e-01 -2.97602064e-03 5.31264012e+01] [ 3.76596595e-03 1.43135996e-05 9.99992909e-01 4.41060069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:53.15, Z:0.44 [[ 6.16019044e-01 -7.87727896e-01 -2.30198594e-03 1.05815111e+02] [ 7.87722258e-01 6.16023345e-01 -2.98052192e-03 5.31483814e+01] [ 3.76591734e-03 2.27326999e-05 9.99992909e-01 4.44394764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:53.17, Z:0.44 [[ 6.15963813e-01 -7.87771087e-01 -2.30117859e-03 1.05832903e+02] [ 7.87765446e-01 6.15968111e-01 -2.98114512e-03 5.31706236e+01] [ 3.76591256e-03 2.34885390e-05 9.99992909e-01 4.44614690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:53.19, Z:0.44 [[ 6.15056833e-01 -7.88479423e-01 -2.30034651e-03 1.05850215e+02] [ 7.88473786e-01 6.15061134e-01 -2.98178704e-03 5.31915296e+01] [ 3.76593146e-03 2.02055687e-05 9.99992909e-01 4.43176876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:53.21, Z:0.44 [[ 6.14579170e-01 -7.88851796e-01 -2.29961400e-03 1.05868275e+02] [ 7.88846158e-01 6.14583472e-01 -2.98235187e-03 5.32134376e+01] [ 3.76593838e-03 1.88496685e-05 9.99992909e-01 4.42906853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:53.23, Z:0.44 [[ 6.14148286e-01 -7.89187303e-01 -2.29877986e-03 1.05886224e+02] [ 7.89181665e-01 6.14152588e-01 -2.98299468e-03 5.32344908e+01] [ 3.76594312e-03 1.78461461e-05 9.99992909e-01 4.43590622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:53.25, Z:0.45 [[ 6.12921555e-01 -7.90140422e-01 -2.29794818e-03 1.05905361e+02] [ 7.90134789e-01 6.12925863e-01 -2.98363523e-03 5.32547932e+01] [ 3.76596267e-03 1.30455479e-05 9.99992909e-01 4.45689490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:53.28, Z:0.45 [[ 6.12220497e-01 -7.90683746e-01 -2.29711094e-03 1.05922598e+02] [ 7.90678114e-01 6.12224806e-01 -2.98427968e-03 5.32751101e+01] [ 3.76596974e-03 1.07618391e-05 9.99992909e-01 4.46416488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:53.30, Z:0.45 [[ 6.11577689e-01 -7.91181052e-01 -2.29635874e-03 1.05940471e+02] [ 7.91175422e-01 6.11582000e-01 -2.98485838e-03 5.32973086e+01] [ 3.76597506e-03 8.65019505e-06 9.99992909e-01 4.47283511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:53.32, Z:0.45 [[ 6.12334119e-01 -7.90595761e-01 -2.29552208e-03 1.05957713e+02] [ 7.90590124e-01 6.12338422e-01 -2.98550168e-03 5.33181695e+01] [ 3.76596133e-03 1.33074558e-05 9.99992909e-01 4.47967078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:53.34, Z:0.45 [[ 6.12970836e-01 -7.90102201e-01 -2.29475901e-03 1.05974879e+02] [ 7.90096558e-01 6.12975132e-01 -2.98608808e-03 5.33402918e+01] [ 3.76594497e-03 1.73037107e-05 9.99992909e-01 4.48629953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:53.36, Z:0.45 [[ 6.13680424e-01 -7.89551186e-01 -2.29393217e-03 1.05991739e+02] [ 7.89545537e-01 6.13684711e-01 -2.98672313e-03 5.33618556e+01] [ 3.76592189e-03 2.17296114e-05 9.99992909e-01 4.48575042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:53.38, Z:0.45 [[ 6.14419438e-01 -7.88976232e-01 -2.29319316e-03 1.06008908e+02] [ 7.88970578e-01 6.14423717e-01 -2.98729043e-03 5.33840521e+01] [ 3.76589341e-03 2.61873751e-05 9.99992909e-01 4.48273135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:53.41, Z:0.45 [[ 6.15281331e-01 -7.88304274e-01 -2.29237552e-03 1.06025192e+02] [ 7.88298612e-01 6.15285600e-01 -2.98791774e-03 5.34058622e+01] [ 3.76585397e-03 3.13335635e-05 9.99992909e-01 4.46467956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:53.43, Z:0.45 [[ 6.15067041e-01 -7.88471485e-01 -2.29168387e-03 1.06042533e+02] [ 7.88465822e-01 6.15071310e-01 -2.98844812e-03 5.34286108e+01] [ 3.76585513e-03 3.11815346e-05 9.99992909e-01 4.46575288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:53.45, Z:0.45 [[ 6.14942798e-01 -7.88568391e-01 -2.29087142e-03 1.06059571e+02] [ 7.88562727e-01 6.14947064e-01 -2.98907080e-03 5.34504268e+01] [ 3.76585140e-03 3.16117521e-05 9.99992909e-01 4.46134580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:53.47, Z:0.44 [[ 6.14232174e-01 -7.89122039e-01 -2.29005522e-03 1.06078014e+02] [ 7.89116376e-01 6.14236442e-01 -2.98969599e-03 5.34730405e+01] [ 3.76587037e-03 2.92473910e-05 9.99992909e-01 4.44988011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:53.49, Z:0.45 [[ 6.14452809e-01 -7.88950227e-01 -2.29892684e-03 1.06096147e+02] [ 7.88944588e-01 6.14457109e-01 -2.98290465e-03 5.34936118e+01] [ 3.76595524e-03 1.91282487e-05 9.99992909e-01 4.48334130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:53.52, Z:0.45 [[ 6.14553184e-01 -7.88872075e-01 -2.28785551e-03 1.06113109e+02] [ 7.88866404e-01 6.14557441e-01 -2.99137221e-03 5.35151801e+01] [ 3.76582862e-03 3.35449669e-05 9.99992909e-01 4.48505565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:53.54, Z:0.45 [[ 6.14562365e-01 -7.88864924e-01 -2.28711140e-03 1.06130172e+02] [ 7.88859251e-01 6.14566620e-01 -2.99194102e-03 5.35376639e+01] [ 3.76581965e-03 3.45253650e-05 9.99992909e-01 4.50179233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34088847899997 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:106.15, Y:53.56, Z:0.45 [[ 6.14754856e-01 -7.88714930e-01 -2.28627681e-03 1.06146173e+02] [ 7.88709253e-01 6.14759106e-01 -2.99257863e-03 5.35603331e+01] [ 3.76580093e-03 3.64945665e-05 9.99992909e-01 4.47678372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:53.58, Z:0.45 [[ 6.14811732e-01 -7.88670584e-01 -2.28996483e-03 1.06162160e+02] [ 7.88664918e-01 6.14815996e-01 -2.98976212e-03 5.35837260e+01] [ 3.76584444e-03 3.21259045e-05 9.99992909e-01 4.50028634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:53.61, Z:0.45 [[ 6.14585827e-01 -7.88846653e-01 -2.28463780e-03 1.06178510e+02] [ 7.88840973e-01 6.14590072e-01 -2.99382725e-03 5.36065953e+01] [ 3.76578632e-03 3.77478914e-05 9.99992909e-01 4.50064903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43088847899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:106.20, Y:53.63, Z:0.45 [[ 6.13141249e-01 -7.89969995e-01 -2.28379525e-03 1.06195629e+02] [ 7.89964320e-01 6.13145501e-01 -2.99446985e-03 5.36291388e+01] [ 3.76584011e-03 3.19162219e-05 9.99992909e-01 4.46859085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:53.65, Z:0.45 [[ 6.12646141e-01 -7.90354005e-01 -2.29180662e-03 1.06212496e+02] [ 7.90348356e-01 6.12650427e-01 -2.98835927e-03 5.36497262e+01] [ 3.76593802e-03 1.94811833e-05 9.99992909e-01 4.50693209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49088847899998 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:106.23, Y:53.67, Z:0.45 [[ 6.11570782e-01 -7.91186430e-01 -2.28302526e-03 1.06230305e+02] [ 7.91180761e-01 6.11575043e-01 -2.99505300e-03 5.36717323e+01] [ 3.76588656e-03 2.54012372e-05 9.99992909e-01 4.51858113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:106.25, Y:53.69, Z:0.45 [[ 6.06096927e-01 -7.95387538e-01 -2.27602701e-03 1.06246111e+02] [ 7.95381879e-01 6.06101200e-01 -3.00038619e-03 5.36943377e+01] [ 3.76597249e-03 8.21420857e-06 9.99992909e-01 4.49860732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:53.72, Z:0.46 [[ 6.07539736e-01 -7.94286055e-01 -2.26555699e-03 1.06265690e+02] [ 7.94280358e-01 6.07543959e-01 -3.00837128e-03 5.37154554e+01] [ 3.76593282e-03 2.82176734e-05 9.99992908e-01 4.55302322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:53.74, Z:0.46 [[ 6.05999997e-01 -7.95461397e-01 -2.27368311e-03 1.06282771e+02] [ 7.95455732e-01 6.06004262e-01 -3.00217868e-03 5.37389902e+01] [ 3.76597891e-03 1.07060117e-05 9.99992909e-01 4.55151019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:53.76, Z:0.45 [[ 6.04268473e-01 -7.96777512e-01 -2.28219232e-03 1.06299049e+02] [ 7.96771880e-01 6.04272783e-01 -2.99569617e-03 5.37622063e+01] [ 3.76597004e-03 -8.18191777e-06 9.99992909e-01 4.54151533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:53.78, Z:0.45 [[ 6.03269732e-01 -7.97533965e-01 -2.28138048e-03 1.06316189e+02] [ 7.97528336e-01 6.03274046e-01 -2.99631430e-03 5.37846868e+01] [ 3.76596005e-03 -1.18798496e-05 9.99992909e-01 4.54632471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:53.81, Z:0.45 [[ 6.00003422e-01 -7.99994183e-01 -2.28053339e-03 1.06331451e+02] [ 7.99988570e-01 6.00007756e-01 -2.99695889e-03 5.38076778e+01] [ 3.76588740e-03 -2.62150515e-05 9.99992909e-01 4.49858713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:53.83, Z:0.46 [[ 6.00888147e-01 -7.99329893e-01 -2.27098137e-03 1.06351329e+02] [ 7.99324247e-01 6.00892438e-01 -3.00422440e-03 5.38289534e+01] [ 3.76598190e-03 -1.00476406e-05 9.99992909e-01 4.55677960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:53.85, Z:0.45 [[ 5.95080382e-01 -8.03662954e-01 -2.27951015e-03 1.06365218e+02] [ 8.03657364e-01 5.95084746e-01 -2.99773903e-03 5.38516586e+01] [ 3.76567352e-03 -4.80494287e-05 9.99992909e-01 4.51154067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:53.87, Z:0.46 [[ 5.96401144e-01 -8.02683344e-01 -2.26380858e-03 1.06385239e+02] [ 8.02677702e-01 5.96405440e-01 -3.00966872e-03 5.38732800e+01] [ 3.76595870e-03 -2.21388024e-05 9.99992909e-01 4.57439110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:53.90, Z:0.46 [[ 5.95042266e-01 -8.03691179e-01 -2.27845216e-03 1.06401964e+02] [ 8.03685586e-01 5.95046626e-01 -2.99854175e-03 5.38956547e+01] [ 3.76568682e-03 -4.69000854e-05 9.99992909e-01 4.58227316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:53.92, Z:0.46 [[ 5.93103243e-01 -8.05123193e-01 -2.27760672e-03 1.06417887e+02] [ 8.05117608e-01 5.93107614e-01 -2.99918378e-03 5.39171813e+01] [ 3.76557831e-03 -5.49156533e-05 9.99992909e-01 4.59413428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:53.94, Z:0.46 [[ 5.92566126e-01 -8.05518592e-01 -2.27684100e-03 1.06434059e+02] [ 8.05513009e-01 5.92570498e-01 -2.99976497e-03 5.39385391e+01] [ 3.76555526e-03 -5.64659371e-05 9.99992909e-01 4.59549622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:53.96, Z:0.46 [[ 5.92012863e-01 -8.05925300e-01 -2.27626862e-03 1.06450905e+02] [ 8.05919717e-01 5.92017236e-01 -3.00019924e-03 5.39607758e+01] [ 3.76552672e-03 -5.83332222e-05 9.99992909e-01 4.59441532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:53.98, Z:0.46 [[ 5.91625800e-01 -8.06209486e-01 -2.27543986e-03 1.06467548e+02] [ 8.06203903e-01 5.91630173e-01 -3.00082766e-03 5.39832880e+01] [ 3.76551460e-03 -5.91014337e-05 9.99992909e-01 4.59476784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:54.01, Z:0.46 [[ 5.91891770e-01 -8.06014242e-01 -2.27460118e-03 1.06482955e+02] [ 8.06008656e-01 5.91896138e-01 -3.00146324e-03 5.40069912e+01] [ 3.76554977e-03 -5.68068500e-05 9.99992909e-01 4.59041070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:54.03, Z:0.46 [[ 5.92255825e-01 -8.05746776e-01 -2.27374687e-03 1.06498201e+02] [ 8.05741185e-01 5.92260187e-01 -3.00211028e-03 5.40294386e+01] [ 3.76559042e-03 -5.40341965e-05 9.99992909e-01 4.58257261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:54.05, Z:0.46 [[ 5.92955103e-01 -8.05232314e-01 -2.27298119e-03 1.06514333e+02] [ 8.05226717e-01 5.92959457e-01 -3.00268988e-03 5.40524514e+01] [ 3.76564862e-03 -4.98048985e-05 9.99992909e-01 4.58247865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:54.07, Z:0.46 [[ 5.95266611e-01 -8.03525046e-01 -2.27212601e-03 1.06529035e+02] [ 8.03519434e-01 5.95270946e-01 -3.00333685e-03 5.40744602e+01] [ 3.76578698e-03 -3.79112559e-05 9.99992909e-01 4.57671055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:54.10, Z:0.46 [[ 5.95572776e-01 -8.03298173e-01 -2.26133811e-03 1.06545782e+02] [ 8.03292529e-01 5.95577068e-01 -3.01149043e-03 5.40976768e+01] [ 3.76592589e-03 -2.29542959e-05 9.99992909e-01 4.58442403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09088847899997 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:106.56, Y:54.12, Z:0.46 [[ 5.96221868e-01 -8.02816498e-01 -2.27028456e-03 1.06562113e+02] [ 8.02810876e-01 5.96226190e-01 -3.00473076e-03 5.41205742e+01] [ 3.76585055e-03 -3.11229508e-05 9.99992909e-01 4.58495281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:54.14, Z:0.46 [[ 5.97995801e-01 -8.01496021e-01 -2.26943573e-03 1.06577270e+02] [ 8.01490387e-01 5.98000107e-01 -3.00537174e-03 5.41429637e+01] [ 3.76591630e-03 -2.17312367e-05 9.99992909e-01 4.58477018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:54.17, Z:0.46 [[ 5.98722443e-01 -8.00953363e-01 -2.26867311e-03 1.06593421e+02] [ 8.00947723e-01 5.98726741e-01 -3.00594731e-03 5.41659216e+01] [ 3.76593887e-03 -1.73604467e-05 9.99992909e-01 4.58383597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:54.19, Z:0.46 [[ 6.00674205e-01 -7.99490685e-01 -2.26783523e-03 1.06608288e+02] [ 7.99485032e-01 6.00678486e-01 -3.00657931e-03 5.41868812e+01] [ 3.76597199e-03 -7.12568464e-06 9.99992909e-01 4.58470767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:54.21, Z:0.46 [[ 6.01752753e-01 -7.98679253e-01 -2.25267021e-03 1.06624823e+02] [ 7.98673551e-01 6.01756969e-01 -3.01800413e-03 5.42108154e+01] [ 3.76597728e-03 1.69441784e-05 9.99992909e-01 4.58308913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:54.23, Z:0.46 [[ 6.02389069e-01 -7.98199417e-01 -2.25811790e-03 1.06642415e+02] [ 7.98193727e-01 6.02393302e-01 -3.01390074e-03 5.42336501e+01] [ 3.76596891e-03 1.31253165e-05 9.99992909e-01 4.59396577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:54.26, Z:0.46 [[ 6.02397244e-01 -7.98193238e-01 -2.26164652e-03 1.06659534e+02] [ 7.98187558e-01 6.02401490e-01 -3.01124336e-03 5.42562895e+01] [ 3.76597332e-03 8.74658885e-06 9.99992909e-01 4.59633838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:54.28, Z:0.46 [[ 6.03020174e-01 -7.97722721e-01 -2.26519280e-03 1.06676927e+02] [ 7.97717047e-01 6.03024428e-01 -3.00857332e-03 5.42786361e+01] [ 3.76597389e-03 7.24749689e-06 9.99992909e-01 4.59744197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:54.30, Z:0.46 [[ 6.03444855e-01 -7.97401518e-01 -2.26434609e-03 1.06693947e+02] [ 7.97395840e-01 6.03449103e-01 -3.00921045e-03 5.43016222e+01] [ 3.76596660e-03 1.03124049e-05 9.99992909e-01 4.59329506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:54.32, Z:0.46 [[ 6.03887495e-01 -7.97066352e-01 -2.26349900e-03 1.06710817e+02] [ 7.97060670e-01 6.03891737e-01 -3.00984749e-03 5.43246710e+01] [ 3.76595650e-03 1.34632268e-05 9.99992909e-01 4.59533440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:54.35, Z:0.46 [[ 6.04754818e-01 -7.96408494e-01 -2.26301513e-03 1.06726966e+02] [ 7.96402805e-01 6.04759052e-01 -3.01021125e-03 5.43460020e+01] [ 3.76593669e-03 1.81681544e-05 9.99992909e-01 4.61639856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:54.37, Z:0.46 [[ 6.04497303e-01 -7.96603983e-01 -2.25937905e-03 1.06744218e+02] [ 7.96598286e-01 6.04501525e-01 -3.01294367e-03 5.43679599e+01] [ 3.76592101e-03 2.14988473e-05 9.99992909e-01 4.63120112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:54.39, Z:0.46 [[ 6.04661063e-01 -7.96479670e-01 -2.26597259e-03 1.06761474e+02] [ 7.96473990e-01 6.04665309e-01 -3.00798991e-03 5.43900573e+01] [ 3.76595782e-03 1.40261478e-05 9.99992909e-01 4.63567734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:54.41, Z:0.46 [[ 6.03913765e-01 -7.97046463e-01 -2.25850285e-03 1.06779426e+02] [ 7.97040766e-01 6.03917987e-01 -3.01360005e-03 5.44110362e+01] [ 3.76592976e-03 1.98357062e-05 9.99992909e-01 4.64508557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:54.43, Z:0.47 [[ 6.02887699e-01 -7.97822868e-01 -2.25699013e-03 1.06797153e+02] [ 7.97817172e-01 6.02891924e-01 -3.01473560e-03 5.44332212e+01] [ 3.76594612e-03 1.68815319e-05 9.99992909e-01 4.65471377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:54.45, Z:0.46 [[ 6.01485425e-01 -7.98880578e-01 -2.25955926e-03 1.06815360e+02] [ 7.98874897e-01 6.01489669e-01 -3.01280775e-03 5.44547357e+01] [ 3.76597515e-03 7.05477672e-06 9.99992909e-01 4.63702982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:54.48, Z:0.46 [[ 6.00667374e-01 -7.99495841e-01 -2.25945470e-03 1.06833046e+02] [ 7.99490164e-01 6.00671624e-01 -3.01288617e-03 5.44770034e+01] [ 3.76598029e-03 3.33061328e-06 9.99992909e-01 4.63566789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:54.50, Z:0.46 [[ 5.99706277e-01 -8.00217021e-01 -2.25860356e-03 1.06849684e+02] [ 8.00211346e-01 5.99710530e-01 -3.01352409e-03 5.44984827e+01] [ 3.76598161e-03 -1.30886607e-07 9.99992909e-01 4.63510709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:54.52, Z:0.46 [[ 5.96941470e-01 -8.02281611e-01 -2.25784141e-03 1.06867483e+02] [ 8.02275950e-01 5.96945740e-01 -3.01409501e-03 5.45201365e+01] [ 3.76596181e-03 -1.21735503e-05 9.99992909e-01 4.62142045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:54.54, Z:0.46 [[ 5.95647042e-01 -8.03243118e-01 -2.25700751e-03 1.06884901e+02] [ 8.03237461e-01 5.95651318e-01 -3.01471932e-03 5.45416082e+01] [ 3.76594205e-03 -1.72043366e-05 9.99992909e-01 4.63094083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:54.56, Z:0.46 [[ 5.93729422e-01 -8.04661603e-01 -2.25355180e-03 1.06902735e+02] [ 8.04655946e-01 5.93733698e-01 -3.01730545e-03 5.45635684e+01] [ 3.76591949e-03 -2.18708399e-05 9.99992909e-01 4.64071290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:54.59, Z:0.46 [[ 5.92743375e-01 -8.05388222e-01 -2.25889358e-03 1.06920229e+02] [ 8.05382586e-01 5.92747678e-01 -3.01330888e-03 5.45853151e+01] [ 3.76583741e-03 -3.31546721e-05 9.99992909e-01 4.64831405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:54.61, Z:0.47 [[ 5.91090816e-01 -8.06601870e-01 -2.25182892e-03 1.06937311e+02] [ 8.06596222e-01 5.91095104e-01 -3.01859158e-03 5.46069028e+01] [ 3.76584667e-03 -3.20549434e-05 9.99992909e-01 4.65051566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:54.63, Z:0.46 [[ 5.88676785e-01 -8.08365362e-01 -2.25496540e-03 1.06954227e+02] [ 8.08359736e-01 5.88681102e-01 -3.01624673e-03 5.46289335e+01] [ 3.76568490e-03 -4.72288034e-05 9.99992909e-01 4.62935712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:54.65, Z:0.46 [[ 5.87449420e-01 -8.09257745e-01 -2.25412944e-03 1.06970556e+02] [ 8.09252123e-01 5.87453743e-01 -3.01687134e-03 5.46510596e+01] [ 3.76562327e-03 -5.18997194e-05 9.99992909e-01 4.61928444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:54.67, Z:0.46 [[ 5.85426147e-01 -8.10722609e-01 -2.25335916e-03 1.06986840e+02] [ 8.10716996e-01 5.85430480e-01 -3.01744657e-03 5.46743466e+01] [ 3.76549729e-03 -6.03444477e-05 9.99992909e-01 4.60162560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:54.70, Z:0.46 [[ 5.84285524e-01 -8.11545041e-01 -2.25251470e-03 1.07003219e+02] [ 8.11539431e-01 5.84289862e-01 -3.01807682e-03 5.46973488e+01] [ 3.76542678e-03 -6.45859040e-05 9.99992909e-01 4.59735596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:54.72, Z:0.46 [[ 5.83592665e-01 -8.12043430e-01 -2.25167436e-03 1.07019463e+02] [ 8.12037821e-01 5.83597005e-01 -3.01870364e-03 5.47203340e+01] [ 3.76538887e-03 -6.67514400e-05 9.99992909e-01 4.59305930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:54.74, Z:0.46 [[ 5.82858721e-01 -8.12570394e-01 -2.25082708e-03 1.07035411e+02] [ 8.12564788e-01 5.82863062e-01 -3.01933526e-03 5.47435696e+01] [ 3.76534641e-03 -6.90969444e-05 9.99992909e-01 4.58840634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:54.77, Z:0.46 [[ 5.82713923e-01 -8.12674241e-01 -2.24997370e-03 1.07049582e+02] [ 8.12668633e-01 5.82718262e-01 -3.01997106e-03 5.47671806e+01] [ 3.76535345e-03 -6.87038712e-05 9.99992909e-01 4.58594673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:54.79, Z:0.46 [[ 5.82819596e-01 -8.12598462e-01 -2.24920689e-03 1.07064370e+02] [ 8.12592850e-01 5.82823932e-01 -3.02054205e-03 5.47902878e+01] [ 3.76537943e-03 -6.72583396e-05 9.99992909e-01 4.58259494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:54.82, Z:0.46 [[ 5.83562867e-01 -8.12064852e-01 -2.24847220e-03 1.07078259e+02] [ 8.12059235e-01 5.83567196e-01 -3.02108885e-03 5.48154408e+01] [ 3.76545469e-03 -6.28973425e-05 9.99992909e-01 4.56630630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:54.84, Z:0.46 [[ 5.83336484e-01 -8.12227490e-01 -2.24763061e-03 1.07095276e+02] [ 8.12221871e-01 5.83340810e-01 -3.02171485e-03 5.48384353e+01] [ 3.76545453e-03 -6.28982242e-05 9.99992909e-01 4.56737897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:54.86, Z:0.46 [[ 5.83698281e-01 -8.11967530e-01 -2.24678813e-03 1.07110180e+02] [ 8.11961907e-01 5.83702602e-01 -3.02234114e-03 5.48620952e+01] [ 3.76549895e-03 -6.01710496e-05 9.99992909e-01 4.56286492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:54.89, Z:0.46 [[ 5.84595286e-01 -8.11321950e-01 -2.24595175e-03 1.07124548e+02] [ 8.11316320e-01 5.84599598e-01 -3.02296254e-03 5.48851274e+01] [ 3.76557836e-03 -5.49676636e-05 9.99992909e-01 4.56330986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:54.91, Z:0.46 [[ 5.87529607e-01 -8.09199555e-01 -2.24519796e-03 1.07137613e+02] [ 8.09193908e-01 5.87533895e-01 -3.02352229e-03 5.49120022e+01] [ 3.76576279e-03 -4.03916460e-05 9.99992909e-01 4.55231078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:54.94, Z:0.45 [[ 5.89021637e-01 -8.08114143e-01 -2.24570308e-03 1.07151395e+02] [ 8.08108489e-01 5.89025917e-01 -3.02314729e-03 5.49365813e+01] [ 3.76582540e-03 -3.40725560e-05 9.99992909e-01 4.54419566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:54.96, Z:0.45 [[ 5.90559161e-01 -8.06991227e-01 -2.24404754e-03 1.07164681e+02] [ 8.06985561e-01 5.90563424e-01 -3.02437568e-03 5.49602904e+01] [ 3.76589704e-03 -2.48411924e-05 9.99992909e-01 4.53530425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:54.99, Z:0.45 [[ 5.92322732e-01 -8.05697679e-01 -2.24327286e-03 1.07179003e+02] [ 8.05692000e-01 5.92326979e-01 -3.02495018e-03 5.49850982e+01] [ 3.76594637e-03 -1.56402462e-05 9.99992909e-01 4.52364801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:55.01, Z:0.45 [[ 5.95735598e-01 -8.03177483e-01 -2.24243445e-03 1.07190528e+02] [ 8.03171784e-01 5.95739818e-01 -3.02557157e-03 5.50117928e+01] [ 3.76597845e-03 1.38061238e-06 9.99992909e-01 4.49767775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:55.04, Z:0.45 [[ 5.97170353e-01 -8.02111305e-01 -2.24158004e-03 1.07204382e+02] [ 8.02105596e-01 5.97174560e-01 -3.02620446e-03 5.50365662e+01] [ 3.76596738e-03 9.17568958e-06 9.99992909e-01 4.48604480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:55.06, Z:0.45 [[ 5.98557700e-01 -8.01076563e-01 -2.24072660e-03 1.07217583e+02] [ 8.01070844e-01 5.98561894e-01 -3.02683625e-03 5.50604825e+01] [ 3.76594113e-03 1.67553951e-05 9.99992909e-01 4.47200633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.350888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.23, Y:55.09, Z:0.44 [[ 6.00795628e-01 -7.99399522e-01 -2.23996185e-03 1.07228183e+02] [ 7.99393790e-01 6.00799803e-01 -3.02740208e-03 5.50875418e+01] [ 3.76587241e-03 2.82383403e-05 9.99992909e-01 4.44736722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.380888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:107.24, Y:55.11, Z:0.44 [[ 6.01707805e-01 -7.98713155e-01 -2.23914688e-03 1.07242708e+02] [ 7.98707416e-01 6.01711970e-01 -3.02800473e-03 5.51120223e+01] [ 3.76582869e-03 3.35508569e-05 9.99992909e-01 4.44255472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.410888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:107.26, Y:55.14, Z:0.44 [[ 6.02157796e-01 -7.98373959e-01 -2.23830112e-03 1.07256767e+02] [ 7.98368215e-01 6.02161955e-01 -3.02862979e-03 5.51360731e+01] [ 3.76579893e-03 3.67245738e-05 9.99992909e-01 4.44171392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.440888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:107.27, Y:55.16, Z:0.44 [[ 6.03680555e-01 -7.97223169e-01 -2.23743318e-03 1.07268110e+02] [ 7.97217415e-01 6.03684699e-01 -3.02927085e-03 5.51618881e+01] [ 3.76570909e-03 4.49912113e-05 9.99992909e-01 4.43090888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.470888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:107.28, Y:55.19, Z:0.44 [[ 6.04041971e-01 -7.96949367e-01 -2.23696089e-03 1.07281966e+02] [ 7.96943609e-01 6.04046112e-01 -3.02961957e-03 5.51864464e+01] [ 3.76568093e-03 4.72856941e-05 9.99992909e-01 4.42386149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.500888479 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:107.29, Y:55.21, Z:0.44 [[ 6.04198994e-01 -7.96830330e-01 -2.23611621e-03 1.07293732e+02] [ 7.96824570e-01 6.04203130e-01 -3.03024289e-03 5.52123249e+01] [ 3.76565786e-03 4.90773686e-05 9.99992909e-01 4.41611959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53088847899997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:107.31, Y:55.24, Z:0.44 [[ 6.03263897e-01 -7.97538509e-01 -2.23526735e-03 1.07308469e+02] [ 7.97532752e-01 6.03268037e-01 -3.03086893e-03 5.52367059e+01] [ 3.76570003e-03 4.57148825e-05 9.99992909e-01 4.41575178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56088847899997 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:107.32, Y:55.26, Z:0.44 [[ 6.02290620e-01 -7.98273773e-01 -2.23440061e-03 1.07323060e+02] [ 7.98268018e-01 6.02294763e-01 -3.03150777e-03 5.52598039e+01] [ 3.76574093e-03 4.21981434e-05 9.99992909e-01 4.40759363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59088847899997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:107.34, Y:55.28, Z:0.44 [[ 6.00365184e-01 -7.99722862e-01 -2.23400349e-03 1.07337748e+02] [ 7.99717116e-01 6.00369339e-01 -3.03180038e-03 5.52836946e+01] [ 3.76582728e-03 3.36165643e-05 9.99992909e-01 4.40097284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62088847899997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:107.35, Y:55.31, Z:0.44 [[ 5.96890603e-01 -8.02319525e-01 -2.23314586e-03 1.07351177e+02] [ 8.02313795e-01 5.96894781e-01 -3.03243197e-03 5.53080734e+01] [ 3.76593248e-03 1.83464184e-05 9.99992909e-01 4.38528522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65088847899997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:107.37, Y:55.33, Z:0.44 [[ 5.94465245e-01 -8.04118205e-01 -2.23269917e-03 1.07366522e+02] [ 8.04112486e-01 5.94469438e-01 -3.03276081e-03 5.53321397e+01] [ 3.76596960e-03 7.52962000e-06 9.99992909e-01 4.38193327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68088847899998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:107.38, Y:55.36, Z:0.44 [[ 5.92287030e-01 -8.05723955e-01 -2.23184960e-03 1.07381727e+02] [ 8.05718245e-01 5.92291235e-01 -3.03338589e-03 5.53554348e+01] [ 3.76597664e-03 -1.60682141e-06 9.99992909e-01 4.37967828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71088847899998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:107.40, Y:55.38, Z:0.44 [[ 5.89915635e-01 -8.07461805e-01 -2.23100254e-03 1.07396462e+02] [ 8.07456105e-01 5.89919853e-01 -3.03400877e-03 5.53777510e+01] [ 3.76595888e-03 -1.16274136e-05 9.99992909e-01 4.38203147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74088847899998 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:107.41, Y:55.40, Z:0.44 [[ 5.85962103e-01 -8.10335386e-01 -2.23053173e-03 1.07412720e+02] [ 8.10329706e-01 5.85966348e-01 -3.03435485e-03 5.54005309e+01] [ 3.76586164e-03 -2.94491725e-05 9.99992909e-01 4.39823664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77088847899998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:107.43, Y:55.42, Z:0.44 [[ 5.84413830e-01 -8.11452712e-01 -2.22968798e-03 1.07429756e+02] [ 8.11447037e-01 5.84418083e-01 -3.03497473e-03 5.54238027e+01] [ 3.76580845e-03 -3.55925019e-05 9.99992909e-01 4.40154786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80088847899998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:107.45, Y:55.45, Z:0.44 [[ 5.83070163e-01 -8.12418745e-01 -2.22894989e-03 1.07446495e+02] [ 8.12413075e-01 5.83074421e-01 -3.03551670e-03 5.54468339e+01] [ 3.76575434e-03 -4.09088207e-05 9.99992909e-01 4.40115243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83088847899998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:107.46, Y:55.47, Z:0.44 [[ 5.83109519e-01 -8.12390500e-01 -2.22814077e-03 1.07460604e+02] [ 8.12384828e-01 5.83113775e-01 -3.03611049e-03 5.54682967e+01] [ 3.76576690e-03 -3.97228271e-05 9.99992909e-01 4.39139356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86088847899998 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:107.48, Y:55.49, Z:0.44 [[ 5.82276326e-01 -8.12987930e-01 -2.21488455e-03 1.07477094e+02] [ 8.12982225e-01 5.82280538e-01 -3.04583369e-03 5.54919444e+01] [ 3.76591020e-03 -2.71449216e-05 9.99992909e-01 4.37953657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89088847899998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:107.49, Y:55.51, Z:0.44 [[ 5.84404450e-01 -8.11459474e-01 -2.22710818e-03 1.07494490e+02] [ 8.11453792e-01 5.84408693e-01 -3.03686942e-03 5.55144071e+01] [ 3.76583784e-03 -3.24353736e-05 9.99992909e-01 4.39740717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92088847899998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:107.51, Y:55.54, Z:0.44 [[ 5.85356249e-01 -8.10773153e-01 -2.22630753e-03 1.07512365e+02] [ 8.10767463e-01 5.85360482e-01 -3.03745626e-03 5.55371130e+01] [ 3.76588043e-03 -2.70237057e-05 9.99992909e-01 4.42461013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95088847899999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:107.53, Y:55.56, Z:0.44 [[ 5.86605203e-01 -8.09869979e-01 -2.22554989e-03 1.07529229e+02] [ 8.09864281e-01 5.86609424e-01 -3.03801127e-03 5.55588150e+01] [ 3.76592267e-03 -2.02801473e-05 9.99992909e-01 4.43196970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980888479 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:107.55, Y:55.58, Z:0.44 [[ 5.89209498e-01 -8.07977238e-01 -2.22505942e-03 1.07546617e+02] [ 8.07971525e-01 5.89213699e-01 -3.03837045e-03 5.55810259e+01] [ 3.76596966e-03 -7.54792656e-06 9.99992909e-01 4.43710356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010888479 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:107.56, Y:55.60, Z:0.44 [[ 5.90439099e-01 -8.07079130e-01 -2.22462499e-03 1.07563043e+02] [ 8.07073409e-01 5.90443289e-01 -3.03868851e-03 5.56020298e+01] [ 3.76597697e-03 -1.27516965e-06 9.99992909e-01 4.43469079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:107.58, Y:55.62, Z:0.45 [[ 5.91560687e-01 -8.06257408e-01 -2.22405949e-03 1.07580318e+02] [ 8.06251680e-01 5.91564868e-01 -3.03910234e-03 5.56238942e+01] [ 3.76597424e-03 4.66177211e-06 9.99992909e-01 4.46504934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.070888479 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:107.60, Y:55.65, Z:0.45 [[ 5.94202007e-01 -8.04312771e-01 -2.22318953e-03 1.07598335e+02] [ 8.04307027e-01 5.94206165e-01 -3.03973861e-03 5.56455501e+01] [ 3.76593351e-03 1.80918262e-05 9.99992909e-01 4.47121268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.100888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:107.62, Y:55.67, Z:0.45 [[ 5.94984002e-01 -8.03734469e-01 -2.22279326e-03 1.07615908e+02] [ 8.03728720e-01 5.94988154e-01 -3.04002835e-03 5.56679511e+01] [ 3.76591123e-03 2.22454557e-05 9.99992909e-01 4.47734112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.130888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:107.63, Y:55.69, Z:0.45 [[ 5.96157807e-01 -8.02864205e-01 -2.22203619e-03 1.07633039e+02] [ 8.02858448e-01 5.96161948e-01 -3.04058162e-03 5.56884648e+01] [ 3.76586756e-03 2.86859441e-05 9.99992909e-01 4.48362791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.160888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:107.65, Y:55.71, Z:0.45 [[ 5.97064676e-01 -8.02190026e-01 -2.22154421e-03 1.07651410e+02] [ 8.02184263e-01 5.97068808e-01 -3.04094103e-03 5.57107699e+01] [ 3.76582732e-03 3.35506700e-05 9.99992909e-01 4.49702861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.190888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:107.67, Y:55.73, Z:0.45 [[ 5.99755136e-01 -8.00180507e-01 -2.22079589e-03 1.07669192e+02] [ 8.00174728e-01 5.99759246e-01 -3.04148743e-03 5.57308218e+01] [ 3.76568182e-03 4.71229573e-05 9.99992909e-01 4.50165644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.220888479 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:107.69, Y:55.75, Z:0.45 [[ 6.00660214e-01 -7.99501331e-01 -2.22021555e-03 1.07686865e+02] [ 7.99495546e-01 6.00664315e-01 -3.04191100e-03 5.57531240e+01] [ 3.76561615e-03 5.21024662e-05 9.99992909e-01 4.50326886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.250888479 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:107.70, Y:55.77, Z:0.45 [[ 6.01670920e-01 -7.98740996e-01 -2.21935738e-03 1.07703966e+02] [ 7.98735203e-01 6.01675010e-01 -3.04253699e-03 5.57739758e+01] [ 3.76553090e-03 5.79271633e-05 9.99992909e-01 4.49476111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28088847899997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:107.72, Y:55.79, Z:0.45 [[ 6.03020846e-01 -7.97722343e-01 -2.21877473e-03 1.07723651e+02] [ 7.97716541e-01 6.03024925e-01 -3.04296183e-03 5.57946202e+01] [ 3.76541510e-03 6.50161083e-05 9.99992909e-01 4.49848792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31088847899997 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:107.74, Y:55.82, Z:0.45 [[ 6.03587773e-01 -7.97293472e-01 -2.21797466e-03 1.07741420e+02] [ 7.97287666e-01 6.03591845e-01 -3.04354488e-03 5.58164811e+01] [ 3.76534988e-03 6.86826395e-05 9.99992909e-01 4.50028760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34088847899997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:107.76, Y:55.84, Z:0.45 [[ 6.03868702e-01 -7.97080721e-01 -2.21710461e-03 1.07759166e+02] [ 7.97074911e-01 6.03872768e-01 -3.04417854e-03 5.58366272e+01] [ 3.76530512e-03 7.10856825e-05 9.99992909e-01 4.49647577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37088847899997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:107.78, Y:55.86, Z:0.45 [[ 6.03311501e-01 -7.97502551e-01 -2.21662693e-03 1.07777001e+02] [ 7.97496743e-01 6.03315569e-01 -3.04452633e-03 5.58584593e+01] [ 3.76534305e-03 6.90449954e-05 9.99992909e-01 4.50279585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:55.88, Z:0.45 [[ 6.02702657e-01 -7.97962780e-01 -2.21577292e-03 1.07795434e+02] [ 7.97956972e-01 6.02706726e-01 -3.04514774e-03 5.58799946e+01] [ 3.76537580e-03 6.72271808e-05 9.99992909e-01 4.51233947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:107.81, Y:55.90, Z:0.45 [[ 6.01734513e-01 -7.98693102e-01 -2.21492299e-03 1.07813916e+02] [ 7.98687297e-01 6.01738586e-01 -3.04576582e-03 5.59014437e+01] [ 3.76543678e-03 6.37115528e-05 9.99992909e-01 4.52516823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:107.83, Y:55.92, Z:0.45 [[ 5.99720800e-01 -8.00206261e-01 -2.21407155e-03 1.07834819e+02] [ 8.00200464e-01 5.99724885e-01 -3.04638464e-03 5.59205424e+01] [ 3.76556986e-03 5.52791523e-05 9.99992909e-01 4.54614835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.85, Y:55.94, Z:0.46 [[ 5.98644772e-01 -8.01011572e-01 -2.21322720e-03 1.07853034e+02] [ 8.01005779e-01 5.98648861e-01 -3.04699794e-03 5.59415101e+01] [ 3.76562655e-03 5.12616087e-05 9.99992909e-01 4.55535350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.87, Y:55.96, Z:0.45 [[ 5.97272107e-01 -8.02035620e-01 -2.21236463e-03 1.07871633e+02] [ 8.02029831e-01 5.97276202e-01 -3.04762411e-03 5.59610985e+01] [ 3.76569584e-03 4.58784418e-05 9.99992909e-01 4.54907189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.89, Y:55.98, Z:0.45 [[ 5.96286371e-01 -8.02768753e-01 -2.21188352e-03 1.07888953e+02] [ 8.02762968e-01 5.96290472e-01 -3.04797324e-03 5.59816559e+01] [ 3.76574275e-03 4.18467212e-05 9.99992909e-01 4.54322354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.91, Y:56.00, Z:0.45 [[ 5.95242501e-01 -8.03543077e-01 -2.21111689e-03 1.07907338e+02] [ 8.03537295e-01 5.95246606e-01 -3.04852929e-03 5.60024903e+01] [ 3.76578443e-03 3.78993120e-05 9.99992909e-01 4.54680173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:56.02, Z:0.45 [[ 5.94711963e-01 -8.03935816e-01 -2.21026653e-03 1.07925907e+02] [ 8.03930035e-01 5.94716069e-01 -3.04914570e-03 5.60230208e+01] [ 3.76579845e-03 3.64637766e-05 9.99992909e-01 4.54980921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:56.04, Z:0.46 [[ 5.93404897e-01 -8.04901093e-01 -2.20419443e-03 1.07947833e+02] [ 8.04895302e-01 5.93408990e-01 -3.05354496e-03 5.60430300e+01] [ 3.76579046e-03 3.78427948e-05 9.99992909e-01 4.55622842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:56.06, Z:0.46 [[ 5.92944123e-01 -8.05240580e-01 -2.20786932e-03 1.07966994e+02] [ 8.05234801e-01 5.92948233e-01 -3.05088285e-03 5.60648216e+01] [ 3.76584689e-03 3.11498432e-05 9.99992909e-01 4.56535083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:56.09, Z:0.46 [[ 5.92292943e-01 -8.05719672e-01 -2.20895978e-03 1.07984849e+02] [ 8.05713899e-01 5.92297062e-01 -3.05009311e-03 5.60856307e+01] [ 3.76588041e-03 2.67590227e-05 9.99992909e-01 4.57096182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:56.11, Z:0.46 [[ 5.90948768e-01 -8.06706066e-01 -2.20818195e-03 1.08003615e+02] [ 8.06700298e-01 5.90952893e-01 -3.05065613e-03 5.61052829e+01] [ 3.76591432e-03 2.14404419e-05 9.99992909e-01 4.56226560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:56.13, Z:0.46 [[ 5.90553822e-01 -8.06995236e-01 -2.20741786e-03 1.08021337e+02] [ 8.06989468e-01 5.90557947e-01 -3.05120892e-03 5.61258652e+01] [ 3.76591922e-03 2.05401289e-05 9.99992909e-01 4.55674648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:56.15, Z:0.46 [[ 5.90268280e-01 -8.07204118e-01 -2.20668838e-03 1.08039476e+02] [ 8.07198350e-01 5.90272404e-01 -3.05173640e-03 5.61469219e+01] [ 3.76592144e-03 2.01079796e-05 9.99992909e-01 4.56826753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.820888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.06, Y:56.17, Z:0.46 [[ 5.89904057e-01 -8.07470332e-01 -2.20582743e-03 1.08058458e+02] [ 8.07464563e-01 5.89908181e-01 -3.05235858e-03 5.61665219e+01] [ 3.76592464e-03 1.94712244e-05 9.99992909e-01 4.57313166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:56.19, Z:0.46 [[ 5.89526869e-01 -8.07745758e-01 -2.20504540e-03 1.08076068e+02] [ 8.07739988e-01 5.89530992e-01 -3.05292342e-03 5.61884467e+01] [ 3.76592854e-03 1.86770362e-05 9.99992909e-01 4.57529257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:56.21, Z:0.46 [[ 5.88614319e-01 -8.08410988e-01 -2.20420741e-03 1.08093836e+02] [ 8.08405221e-01 5.88618446e-01 -3.05352832e-03 5.62105566e+01] [ 3.76594299e-03 1.54577151e-05 9.99992909e-01 4.58316212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:56.23, Z:0.46 [[ 5.86633029e-01 -8.09849884e-01 -2.20336352e-03 1.08113644e+02] [ 8.09844125e-01 5.86637167e-01 -3.05413713e-03 5.62314883e+01] [ 3.76596754e-03 7.27671541e-06 9.99992909e-01 4.59243221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:56.25, Z:0.46 [[ 5.85585825e-01 -8.10607421e-01 -2.20251046e-03 1.08131658e+02] [ 8.10601665e-01 5.85589967e-01 -3.05475220e-03 5.62528770e+01] [ 3.76597283e-03 3.46094119e-06 9.99992909e-01 4.60111396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:56.28, Z:0.46 [[ 5.85355613e-01 -8.10773679e-01 -2.20164612e-03 1.08148329e+02] [ 8.10767922e-01 5.85359754e-01 -3.05537503e-03 5.62761289e+01] [ 3.76597268e-03 3.45687213e-06 9.99992909e-01 4.60218665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:56.30, Z:0.46 [[ 5.84745077e-01 -8.11214122e-01 -2.20077830e-03 1.08165855e+02] [ 8.11208366e-01 5.84749218e-01 -3.05599999e-03 5.62971631e+01] [ 3.76597374e-03 1.69117570e-06 9.99992909e-01 4.60367717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:56.32, Z:0.46 [[ 5.84394924e-01 -8.11466408e-01 -2.20018881e-03 1.08184812e+02] [ 8.11460652e-01 5.84399066e-01 -3.05642434e-03 5.63175733e+01] [ 3.76597396e-03 7.92227452e-07 9.99992909e-01 4.61205822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:56.34, Z:0.46 [[ 5.84458850e-01 -8.11420369e-01 -2.19934117e-03 1.08201440e+02] [ 8.11414611e-01 5.84462988e-01 -3.05703416e-03 5.63401660e+01] [ 3.76597330e-03 2.13310711e-06 9.99992909e-01 4.60608213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:56.36, Z:0.46 [[ 5.84703690e-01 -8.11243960e-01 -2.19849693e-03 1.08217750e+02] [ 8.11238197e-01 5.84707823e-01 -3.05764118e-03 5.63636244e+01] [ 3.76597129e-03 4.30939733e-06 9.99992909e-01 4.58902249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:56.39, Z:0.46 [[ 5.85284539e-01 -8.10824999e-01 -2.19765634e-03 1.08232891e+02] [ 8.10819231e-01 5.85288665e-01 -3.05824523e-03 5.63870575e+01] [ 3.76596503e-03 8.04162599e-06 9.99992909e-01 4.57361576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:56.41, Z:0.46 [[ 5.86419348e-01 -8.10004643e-01 -2.19680779e-03 1.08247585e+02] [ 8.09998868e-01 5.86423463e-01 -3.05885464e-03 5.64101626e+01] [ 3.76594610e-03 1.43597231e-05 9.99992909e-01 4.55863861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:56.43, Z:0.46 [[ 5.86304696e-01 -8.10087637e-01 -2.19623177e-03 1.08263786e+02] [ 8.10081861e-01 5.86308809e-01 -3.05926816e-03 5.64332806e+01] [ 3.76594535e-03 1.45357673e-05 9.99992909e-01 4.56254937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:56.46, Z:0.46 [[ 5.84939428e-01 -8.11074008e-01 -2.19538181e-03 1.08280412e+02] [ 8.11068236e-01 5.84943548e-01 -3.05987799e-03 5.64557561e+01] [ 3.76596193e-03 9.23882221e-06 9.99992909e-01 4.58623035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:56.48, Z:0.46 [[ 5.83350050e-01 -8.12217891e-01 -2.19452891e-03 1.08297217e+02] [ 8.12212125e-01 5.83354178e-01 -3.06048956e-03 5.64784654e+01] [ 3.76597199e-03 2.91374648e-06 9.99992909e-01 4.59817861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:56.50, Z:0.46 [[ 5.81848623e-01 -8.13294146e-01 -2.19367013e-03 1.08313213e+02] [ 8.13288385e-01 5.81852758e-01 -3.06110499e-03 5.64997771e+01] [ 3.76597178e-03 -2.98671207e-06 9.99992909e-01 4.60071536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:56.52, Z:0.46 [[ 5.78109426e-01 -8.15956314e-01 -2.18744527e-03 1.08329322e+02] [ 8.15950556e-01 5.78113564e-01 -3.06556326e-03 5.65234507e+01] [ 3.76595748e-03 -1.26161657e-05 9.99992909e-01 4.61022600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:56.55, Z:0.46 [[ 5.76579555e-01 -8.17038072e-01 -2.19209657e-03 1.08344246e+02] [ 8.17032334e-01 5.76583722e-01 -3.06223363e-03 5.65457646e+01] [ 3.76588866e-03 -2.53924682e-05 9.99992909e-01 4.60369194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:56.57, Z:0.46 [[ 5.76159032e-01 -8.17334673e-01 -2.19150370e-03 1.08359587e+02] [ 8.17328935e-01 5.76163199e-01 -3.06265786e-03 5.65685433e+01] [ 3.76588024e-03 -2.66014006e-05 9.99992909e-01 4.59580503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:108.37, Y:56.59, Z:0.46 [[ 5.73704363e-01 -8.19059525e-01 -2.19064273e-03 1.08374469e+02] [ 8.19053797e-01 5.73708544e-01 -3.06327357e-03 5.65921025e+01] [ 3.76579384e-03 -3.68408359e-05 9.99992909e-01 4.59084520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:56.61, Z:0.46 [[ 5.73238385e-01 -8.19385721e-01 -2.18973960e-03 1.08389717e+02] [ 8.19379993e-01 5.73242566e-01 -3.06391902e-03 5.66139985e+01] [ 3.76578344e-03 -3.78728271e-05 9.99992909e-01 4.59285582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.41, Y:56.64, Z:0.46 [[ 5.72647219e-01 -8.19798982e-01 -2.18895984e-03 1.08405604e+02] [ 8.19793256e-01 5.72651401e-01 -3.06447601e-03 5.66373060e+01] [ 3.76576523e-03 -3.96308460e-05 9.99992909e-01 4.59514127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:56.66, Z:0.46 [[ 5.72314971e-01 -8.20030967e-01 -2.18809793e-03 1.08420342e+02] [ 8.20025239e-01 5.72319152e-01 -3.06509130e-03 5.66601383e+01] [ 3.76576014e-03 -4.00978868e-05 9.99992909e-01 4.60853154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.44, Y:56.68, Z:0.46 [[ 5.72516771e-01 -8.19890092e-01 -2.18731818e-03 1.08435729e+02] [ 8.19884362e-01 5.72520948e-01 -3.06564765e-03 5.66832098e+01] [ 3.76577961e-03 -3.82132784e-05 9.99992909e-01 4.61165398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:56.71, Z:0.46 [[ 5.73502552e-01 -8.19200856e-01 -2.18647074e-03 1.08449664e+02] [ 8.19195118e-01 5.73506719e-01 -3.06625194e-03 5.67051070e+01] [ 3.76583187e-03 -3.26428466e-05 9.99992909e-01 4.61009382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:56.73, Z:0.46 [[ 5.73871471e-01 -8.18942495e-01 -2.17369490e-03 1.08465719e+02] [ 8.18936721e-01 5.73875587e-01 -3.07535586e-03 5.67298292e+01] [ 3.76597004e-03 -1.52595858e-05 9.99992909e-01 4.60996948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:56.75, Z:0.46 [[ 5.75818315e-01 -8.17574782e-01 -2.17788651e-03 1.08479878e+02] [ 8.17569009e-01 5.75822434e-01 -3.07236998e-03 5.67545766e+01] [ 3.76596812e-03 -1.14456107e-05 9.99992909e-01 4.60808307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:56.78, Z:0.46 [[ 5.76992800e-01 -8.16746311e-01 -2.18464502e-03 1.08494852e+02] [ 8.16740550e-01 5.76996936e-01 -3.06755672e-03 5.67784358e+01] [ 3.76594911e-03 -1.43300337e-05 9.99992909e-01 4.60557992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:56.80, Z:0.46 [[ 5.78033873e-01 -8.16009849e-01 -2.18381992e-03 1.08509761e+02] [ 8.16004081e-01 5.78037998e-01 -3.06814400e-03 5.68021424e+01] [ 3.76596661e-03 -8.51480822e-06 9.99992909e-01 4.60243159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:56.83, Z:0.46 [[ 5.79668748e-01 -8.14849297e-01 -2.18299803e-03 1.08523812e+02] [ 8.14843519e-01 5.79672858e-01 -3.06872867e-03 5.68265392e+01] [ 3.76597611e-03 4.43119704e-08 9.99992909e-01 4.59900599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:56.85, Z:0.46 [[ 5.79811106e-01 -8.14748010e-01 -2.18217107e-03 1.08539099e+02] [ 8.14742228e-01 5.79815213e-01 -3.06931660e-03 5.68501186e+01] [ 3.76597558e-03 1.71693169e-06 9.99992909e-01 4.59786487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:56.87, Z:0.46 [[ 5.79093384e-01 -8.15258299e-01 -2.18134609e-03 1.08555099e+02] [ 8.15252519e-01 5.79097493e-01 -3.06990280e-03 5.68741584e+01] [ 3.76597579e-03 -5.87485851e-07 9.99992909e-01 4.60782519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:56.90, Z:0.46 [[ 5.78959356e-01 -8.15353475e-01 -2.18508712e-03 1.08571185e+02] [ 8.15347706e-01 5.78963480e-01 -3.06724606e-03 5.68975150e+01] [ 3.76597537e-03 -5.79496276e-06 9.99992909e-01 4.59848386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:56.92, Z:0.46 [[ 5.78158713e-01 -8.15921413e-01 -2.17950540e-03 1.08586342e+02] [ 8.15915633e-01 5.78162821e-01 -3.07120716e-03 5.69200254e+01] [ 3.76597268e-03 -2.64734991e-06 9.99992909e-01 4.58890033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:56.94, Z:0.46 [[ 5.76606363e-01 -8.17019189e-01 -2.17873937e-03 1.08601983e+02] [ 8.17013414e-01 5.76610480e-01 -3.07175050e-03 5.69434598e+01] [ 3.76596305e-03 -8.86840768e-06 9.99992909e-01 4.59508283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:56.97, Z:0.46 [[ 5.75628401e-01 -8.17708506e-01 -2.17789359e-03 1.08618412e+02] [ 8.17702735e-01 5.75632520e-01 -3.07235004e-03 5.69663469e+01] [ 3.76595314e-03 -1.23376048e-05 9.99992909e-01 4.60325574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:56.99, Z:0.46 [[ 5.74268092e-01 -8.18664412e-01 -2.17703263e-03 1.08634730e+02] [ 8.18658645e-01 5.74272218e-01 -3.07295999e-03 5.69892415e+01] [ 3.76593234e-03 -1.75437166e-05 9.99992909e-01 4.60756476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:57.01, Z:0.46 [[ 5.73177131e-01 -8.19428607e-01 -2.17616293e-03 1.08650604e+02] [ 8.19422843e-01 5.73181261e-01 -3.07357576e-03 5.70113156e+01] [ 3.76591171e-03 -2.14942804e-05 9.99992909e-01 4.60769507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:57.03, Z:0.46 [[ 5.71493256e-01 -8.20603879e-01 -2.17538380e-03 1.08666930e+02] [ 8.20598121e-01 5.71497395e-01 -3.07412710e-03 5.70338416e+01] [ 3.76586680e-03 -2.82729525e-05 9.99992909e-01 4.60701417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:57.06, Z:0.46 [[ 5.70992566e-01 -8.20952353e-01 -2.17362621e-03 1.08682749e+02] [ 8.20946593e-01 5.70996702e-01 -3.07537016e-03 5.70562947e+01] [ 3.76586577e-03 -2.84175344e-05 9.99992909e-01 4.61522694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:57.08, Z:0.46 [[ 5.70512075e-01 -8.21286336e-01 -2.17419943e-03 1.08698826e+02] [ 8.21280580e-01 5.70516217e-01 -3.07496486e-03 5.70796493e+01] [ 3.76584265e-03 -3.13231892e-05 9.99992909e-01 4.61553136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:57.10, Z:0.46 [[ 5.69588445e-01 -8.21927174e-01 -2.17334829e-03 1.08714245e+02] [ 8.21921421e-01 5.69592590e-01 -3.07556631e-03 5.71027530e+01] [ 3.76581461e-03 -3.45144847e-05 9.99992909e-01 4.60942163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.73, Y:57.13, Z:0.46 [[ 5.69005368e-01 -8.22330938e-01 -2.17249174e-03 1.08729774e+02] [ 8.22325185e-01 5.69009514e-01 -3.07617124e-03 5.71250747e+01] [ 3.76579925e-03 -3.61367283e-05 9.99992909e-01 4.60564993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:57.15, Z:0.46 [[ 5.68296643e-01 -8.22820885e-01 -2.17172440e-03 1.08744940e+02] [ 8.22815134e-01 5.68300792e-01 -3.07671287e-03 5.71485516e+01] [ 3.76577630e-03 -3.84421054e-05 9.99992909e-01 4.60455574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:57.17, Z:0.46 [[ 5.68183623e-01 -8.22898935e-01 -2.17086274e-03 1.08759623e+02] [ 8.22893182e-01 5.68187769e-01 -3.07732072e-03 5.71708686e+01] [ 3.76578160e-03 -3.79049086e-05 9.99992909e-01 4.60500981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:57.19, Z:0.46 [[ 5.67810939e-01 -8.23156139e-01 -2.17008618e-03 1.08774373e+02] [ 8.23150385e-01 5.67815084e-01 -3.07786825e-03 5.71931656e+01] [ 3.76577381e-03 -3.86600159e-05 9.99992909e-01 4.60829081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:57.22, Z:0.46 [[ 5.68445280e-01 -8.22718213e-01 -2.16932285e-03 1.08789820e+02] [ 8.22712454e-01 5.68449418e-01 -3.07840615e-03 5.72169734e+01] [ 3.76581112e-03 -3.48234801e-05 9.99992909e-01 4.63002028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:57.24, Z:0.46 [[ 5.68889877e-01 -8.22410850e-01 -2.16846686e-03 1.08805359e+02] [ 8.22405087e-01 5.68894009e-01 -3.07900901e-03 5.72407960e+01] [ 3.76583822e-03 -3.17411213e-05 9.99992909e-01 4.63867413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:57.26, Z:0.46 [[ 5.69667423e-01 -8.21872453e-01 -2.16761347e-03 1.08820618e+02] [ 8.21866684e-01 5.69671546e-01 -3.07960967e-03 5.72649565e+01] [ 3.76587407e-03 -2.71359951e-05 9.99992909e-01 4.64068125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:57.29, Z:0.46 [[ 5.69653487e-01 -8.21882115e-01 -2.16675445e-03 1.08835316e+02] [ 8.21876343e-01 5.69657607e-01 -3.08021395e-03 5.72889676e+01] [ 3.76588091e-03 -2.61496073e-05 9.99992909e-01 4.63231316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:57.31, Z:0.46 [[ 5.71999470e-01 -8.20251103e-01 -2.17608842e-03 1.08848043e+02] [ 8.20245344e-01 5.72003608e-01 -3.07365046e-03 5.73129615e+01] [ 3.76589560e-03 -2.67999635e-05 9.99992909e-01 4.62991610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.350888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.86, Y:57.34, Z:0.46 [[ 5.72610083e-01 -8.19824986e-01 -2.16483959e-03 1.08862399e+02] [ 8.19819194e-01 5.72614175e-01 -3.08155293e-03 5.73363606e+01] [ 3.76595193e-03 -1.02487717e-05 9.99992909e-01 4.62645251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:57.36, Z:0.46 [[ 5.73203038e-01 -8.19410516e-01 -2.16408020e-03 1.08877082e+02] [ 8.19404720e-01 5.73207123e-01 -3.08208614e-03 5.73601229e+01] [ 3.76595998e-03 -6.59639126e-06 9.99992909e-01 4.63101357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.410888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.89, Y:57.38, Z:0.46 [[ 5.73712609e-01 -8.19053822e-01 -2.16323842e-03 1.08891928e+02] [ 8.19048021e-01 5.73716687e-01 -3.08267685e-03 5.73837771e+01] [ 3.76596424e-03 -3.22556997e-06 9.99992909e-01 4.63891770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:57.41, Z:0.46 [[ 5.75046901e-01 -8.18117586e-01 -2.16237372e-03 1.08905749e+02] [ 8.18111776e-01 5.75050967e-01 -3.08328328e-03 5.74084539e+01] [ 3.76596338e-03 3.96909211e-06 9.99992909e-01 4.63906799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:57.43, Z:0.46 [[ 5.75454049e-01 -8.17831258e-01 -2.16150696e-03 1.08920172e+02] [ 8.17825443e-01 5.75458108e-01 -3.08389080e-03 5.74325303e+01] [ 3.76595900e-03 6.90206348e-06 9.99992909e-01 4.63610254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.500888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.93, Y:57.46, Z:0.46 [[ 5.76537133e-01 -8.17068092e-01 -2.16064486e-03 1.08933506e+02] [ 8.17062270e-01 5.76541181e-01 -3.08449469e-03 5.74580050e+01] [ 3.76594293e-03 1.29443300e-05 9.99992909e-01 4.62277094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.95, Y:57.48, Z:0.46 [[ 5.77358688e-01 -8.16487767e-01 -2.16136290e-03 1.08949918e+02] [ 8.16481943e-01 5.77362733e-01 -3.08399185e-03 5.74822141e+01] [ 3.76593201e-03 1.58557084e-05 9.99992909e-01 4.62372569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:108.96, Y:57.51, Z:0.46 [[ 5.77101194e-01 -8.16669777e-01 -2.16528115e-03 1.08963959e+02] [ 8.16663964e-01 5.77105256e-01 -3.08124974e-03 5.75053419e+01] [ 3.76595867e-03 9.88581484e-06 9.99992909e-01 4.62540642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.98, Y:57.53, Z:0.46 [[ 5.78153725e-01 -8.15925004e-01 -2.15825332e-03 1.08980403e+02] [ 8.15919168e-01 5.78157753e-01 -3.08616454e-03 5.75307986e+01] [ 3.76588970e-03 2.33172737e-05 9.99992909e-01 4.61604119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:108.99, Y:57.56, Z:0.46 [[ 5.77052501e-01 -8.16704175e-01 -2.16831598e-03 1.08994469e+02] [ 8.16698371e-01 5.77056575e-01 -3.07913269e-03 5.75556679e+01] [ 3.76598152e-03 5.96109153e-06 9.99992909e-01 4.60072428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.01, Y:57.58, Z:0.46 [[ 5.75848694e-01 -8.17553428e-01 -2.16194373e-03 1.09007973e+02] [ 8.17547613e-01 5.75852752e-01 -3.08358231e-03 5.75795334e+01] [ 3.76595454e-03 8.18490888e-06 9.99992909e-01 4.59354047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.02, Y:57.60, Z:0.46 [[ 5.75431940e-01 -8.17846830e-01 -2.15505999e-03 1.09022454e+02] [ 8.17840999e-01 5.75435976e-01 -3.08838575e-03 5.76042140e+01] [ 3.76592554e-03 1.46593911e-05 9.99992909e-01 4.58451278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.04, Y:57.63, Z:0.46 [[ 5.75149760e-01 -8.18045300e-01 -2.15419758e-03 1.09037445e+02] [ 8.18039468e-01 5.75153794e-01 -3.08898718e-03 5.76283709e+01] [ 3.76592635e-03 1.44115965e-05 9.99992909e-01 4.58119071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74088847899998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:109.05, Y:57.65, Z:0.46 [[ 5.74842021e-01 -8.18261580e-01 -2.15332666e-03 1.09052221e+02] [ 8.18255747e-01 5.74846054e-01 -3.08959418e-03 5.76523628e+01] [ 3.76592755e-03 1.40566502e-05 9.99992909e-01 4.58524137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77088847899998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:109.06, Y:57.68, Z:0.46 [[ 5.72267249e-01 -8.20064365e-01 -2.15245343e-03 1.09062702e+02] [ 8.20058543e-01 5.72271297e-01 -3.09020242e-03 5.76757453e+01] [ 3.76595220e-03 3.28381506e-06 9.99992909e-01 4.56729918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80088847899998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:109.08, Y:57.70, Z:0.46 [[ 5.74503110e-01 -8.18499661e-01 -2.11699005e-03 1.09081565e+02] [ 8.18493736e-01 5.74507008e-01 -3.11488253e-03 5.77012522e+01] [ 3.76575591e-03 5.67665991e-05 9.99992908e-01 4.60721496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83088847899998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:109.10, Y:57.72, Z:0.46 [[ 5.74148974e-01 -8.18748023e-01 -2.15173874e-03 1.09096332e+02] [ 8.18742190e-01 5.74153006e-01 -3.09069049e-03 5.77248162e+01] [ 3.76592400e-03 1.27974893e-05 9.99992909e-01 4.60935418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86088847899998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:109.11, Y:57.75, Z:0.46 [[ 5.73920063e-01 -8.18908502e-01 -2.15087474e-03 1.09112604e+02] [ 8.18902668e-01 5.73924093e-01 -3.09129165e-03 5.77483269e+01] [ 3.76592385e-03 1.27972312e-05 9.99992909e-01 4.61042686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89088847899998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:109.13, Y:57.77, Z:0.46 [[ 5.73257950e-01 -8.19372138e-01 -2.15001037e-03 1.09125472e+02] [ 8.19366304e-01 5.73261982e-01 -3.09189271e-03 5.77718785e+01] [ 3.76592994e-03 1.08060272e-05 9.99992909e-01 4.60328538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92088847899998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:109.14, Y:57.80, Z:0.46 [[ 5.73045643e-01 -8.19520636e-01 -2.14923467e-03 1.09140104e+02] [ 8.19514801e-01 5.73049673e-01 -3.09243182e-03 5.77957080e+01] [ 3.76592992e-03 1.07749509e-05 9.99992909e-01 4.59475455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95088847899999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:109.15, Y:57.82, Z:0.46 [[ 5.72847166e-01 -8.19659386e-01 -2.14835351e-03 1.09153724e+02] [ 8.19653550e-01 5.72851194e-01 -3.09304385e-03 5.78190347e+01] [ 3.76592930e-03 1.09358237e-05 9.99992909e-01 4.59189414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980888479 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:109.17, Y:57.84, Z:0.46 [[ 5.72135933e-01 -8.20155998e-01 -2.14786681e-03 1.09165542e+02] [ 8.20150164e-01 5.72139964e-01 -3.09338179e-03 5.78438998e+01] [ 3.76593607e-03 8.26156182e-06 9.99992909e-01 4.57882752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:109.18, Y:57.87, Z:0.46 [[ 5.70926166e-01 -8.20998601e-01 -2.14708525e-03 1.09181430e+02] [ 8.20992771e-01 5.70930204e-01 -3.09392417e-03 5.78693559e+01] [ 3.76594323e-03 3.66079274e-06 9.99992909e-01 4.56991364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040888479 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:109.20, Y:57.89, Z:0.46 [[ 5.70931391e-01 -8.20994930e-01 -2.16161039e-03 1.09195460e+02] [ 8.20989138e-01 5.70935483e-01 -3.08384546e-03 5.78916632e+01] [ 3.76596156e-03 -1.39944749e-05 9.99992909e-01 4.57163866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.070888479 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:109.21, Y:57.92, Z:0.46 [[ 5.69682144e-01 -8.21862306e-01 -2.14594352e-03 1.09209838e+02] [ 8.21856479e-01 5.69686186e-01 -3.09470924e-03 5.79150538e+01] [ 3.76593925e-03 -6.56991893e-07 9.99992909e-01 4.57093288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.100888479 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:109.23, Y:57.94, Z:0.46 [[ 5.69298084e-01 -8.22128389e-01 -2.14535017e-03 1.09225235e+02] [ 8.22122563e-01 5.69302127e-01 -3.09512051e-03 5.79388719e+01] [ 3.76593886e-03 -1.69460478e-06 9.99992909e-01 4.57304566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.130888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:109.24, Y:57.96, Z:0.46 [[ 5.68994933e-01 -8.22338232e-01 -2.14447731e-03 1.09239393e+02] [ 8.22332405e-01 5.68998974e-01 -3.09572517e-03 5.79615223e+01] [ 3.76593855e-03 -2.02124796e-06 9.99992909e-01 4.56832831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.160888479 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:109.25, Y:57.99, Z:0.46 [[ 5.69175121e-01 -8.22213528e-01 -2.14388448e-03 1.09253494e+02] [ 8.22207699e-01 5.69179158e-01 -3.09613566e-03 5.79863332e+01] [ 3.76593899e-03 -4.74940135e-07 9.99992909e-01 4.56332157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.190888479 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:109.27, Y:58.01, Z:0.46 [[ 5.69652305e-01 -8.21882996e-01 -2.14300324e-03 1.09267657e+02] [ 8.21877162e-01 5.69656336e-01 -3.09674549e-03 5.80091233e+01] [ 3.76593784e-03 2.78278533e-06 9.99992909e-01 4.56254010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.220888479 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:109.28, Y:58.03, Z:0.46 [[ 5.69778684e-01 -8.21795389e-01 -2.14251089e-03 1.09282205e+02] [ 8.21789553e-01 5.69782712e-01 -3.09708609e-03 5.80327933e+01] [ 3.76593674e-03 3.96056958e-06 9.99992909e-01 4.55743172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.250888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:109.30, Y:58.06, Z:0.46 [[ 5.70148692e-01 -8.21538729e-01 -2.14163812e-03 1.09296547e+02] [ 8.21532889e-01 5.70152714e-01 -3.09768950e-03 5.80556156e+01] [ 3.76593268e-03 6.71746130e-06 9.99992909e-01 4.55627520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28088847899997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:109.31, Y:58.08, Z:0.46 [[ 5.70791214e-01 -8.21092446e-01 -2.14115035e-03 1.09312811e+02] [ 8.21086602e-01 5.70795230e-01 -3.09802662e-03 5.80802405e+01] [ 3.76592466e-03 1.02565100e-05 9.99992909e-01 4.56399664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31088847899997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:109.33, Y:58.10, Z:0.46 [[ 5.71657788e-01 -8.20489334e-01 -2.15091475e-03 1.09328001e+02] [ 8.20483510e-01 5.71661835e-01 -3.09128141e-03 5.81030408e+01] [ 3.76595929e-03 2.36501376e-06 9.99992909e-01 4.56217559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34088847899997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:109.34, Y:58.13, Z:0.46 [[ 5.72486540e-01 -8.19911328e-01 -2.13911342e-03 1.09343063e+02] [ 8.19905470e-01 5.72490536e-01 -3.09942626e-03 5.81257195e+01] [ 3.76587689e-03 2.05090213e-05 9.99992909e-01 4.56756209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37088847899997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:109.36, Y:58.15, Z:0.46 [[ 5.74737737e-01 -8.18334871e-01 -2.13833242e-03 1.09357684e+02] [ 8.18329000e-01 5.74741714e-01 -3.09996499e-03 5.81497042e+01] [ 3.76579829e-03 3.18074311e-05 9.99992909e-01 4.56769166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40088847899997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:109.37, Y:58.17, Z:0.46 [[ 5.75618408e-01 -8.17715647e-01 -2.13747251e-03 1.09372490e+02] [ 8.17709770e-01 5.75622376e-01 -3.10055780e-03 5.81735267e+01] [ 3.76575163e-03 3.69059907e-05 9.99992909e-01 4.56563268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43088847899998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:109.39, Y:58.20, Z:0.46 [[ 5.77317490e-01 -8.16516963e-01 -2.13661512e-03 1.09387512e+02] [ 8.16511075e-01 5.77321442e-01 -3.10114852e-03 5.81978458e+01] [ 3.76565409e-03 4.57773647e-05 9.99992909e-01 4.57473209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46088847899998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:109.40, Y:58.22, Z:0.46 [[ 5.77536335e-01 -8.16362187e-01 -2.13574121e-03 1.09403622e+02] [ 8.16356296e-01 5.77540282e-01 -3.10175026e-03 5.82208148e+01] [ 3.76562821e-03 4.78476963e-05 9.99992909e-01 4.58134406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49088847899998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:109.42, Y:58.24, Z:0.46 [[ 5.77337171e-01 -8.16503052e-01 -2.13486433e-03 1.09419480e+02] [ 8.16497159e-01 5.77341116e-01 -3.10235368e-03 5.82442926e+01] [ 3.76562620e-03 4.79934377e-05 9.99992909e-01 4.58760408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52088847899998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:109.44, Y:58.27, Z:0.46 [[ 5.76601266e-01 -8.17022913e-01 -2.13075473e-03 1.09435120e+02] [ 8.17017014e-01 5.76605200e-01 -3.10518059e-03 5.82676299e+01] [ 3.76560795e-03 4.95881873e-05 9.99992909e-01 4.56829352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55088847899998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:109.45, Y:58.29, Z:0.46 [[ 5.75913872e-01 -8.17507589e-01 -2.13371570e-03 1.09450834e+02] [ 8.17501701e-01 5.75917823e-01 -3.10314464e-03 5.82904293e+01] [ 3.76568919e-03 4.28278334e-05 9.99992909e-01 4.56396732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58088847899998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:109.47, Y:58.31, Z:0.46 [[ 5.74964911e-01 -8.18175288e-01 -2.13284843e-03 1.09467296e+02] [ 8.18169402e-01 5.74968865e-01 -3.10374061e-03 5.83131465e+01] [ 3.76572531e-03 3.95106145e-05 9.99992909e-01 4.55985021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61088847899998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:109.48, Y:58.33, Z:0.46 [[ 5.73933420e-01 -8.18899190e-01 -2.13197826e-03 1.09483418e+02] [ 8.18893307e-01 5.73937379e-01 -3.10433822e-03 5.83348152e+01] [ 3.76576207e-03 3.58207299e-05 9.99992909e-01 4.55652833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64088847899998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:109.50, Y:58.36, Z:0.46 [[ 5.72172557e-01 -8.20130491e-01 -2.13150276e-03 1.09500615e+02] [ 8.20124615e-01 5.72176527e-01 -3.10466467e-03 5.83564982e+01] [ 3.76582601e-03 2.83060471e-05 9.99992909e-01 4.56101679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67088847899998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:109.52, Y:58.38, Z:0.46 [[ 5.71258631e-01 -8.20767347e-01 -2.13063675e-03 1.09517244e+02] [ 8.20761473e-01 5.71262604e-01 -3.10525888e-03 5.83792793e+01] [ 3.76584818e-03 2.51613799e-05 9.99992909e-01 4.55874380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70088847899999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:109.53, Y:58.40, Z:0.46 [[ 5.70367264e-01 -8.21387027e-01 -2.12975672e-03 1.09533880e+02] [ 8.21381155e-01 5.70371240e-01 -3.10586233e-03 5.84019182e+01] [ 3.76586701e-03 2.21401655e-05 9.99992909e-01 4.55763341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:109.55, Y:58.42, Z:0.46 [[ 5.69380363e-01 -8.22071451e-01 -2.12886833e-03 1.09550977e+02] [ 8.22065582e-01 5.69384342e-01 -3.10647115e-03 5.84233515e+01] [ 3.76588554e-03 1.86942908e-05 9.99992909e-01 4.55815499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760888479 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:109.57, Y:58.45, Z:0.46 [[ 5.68840229e-01 -8.22445295e-01 -2.12836810e-03 1.09567528e+02] [ 8.22439427e-01 5.68844211e-01 -3.10681384e-03 5.84454605e+01] [ 3.76589429e-03 1.68268578e-05 9.99992909e-01 4.55872434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790888479 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:109.58, Y:58.47, Z:0.46 [[ 5.68145962e-01 -8.22925051e-01 -2.12750170e-03 1.09584690e+02] [ 8.22919184e-01 5.68149945e-01 -3.10740702e-03 5.84677858e+01] [ 3.76590306e-03 1.46987920e-05 9.99992909e-01 4.55795454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.820888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:109.60, Y:58.49, Z:0.46 [[ 5.66861258e-01 -8.23810531e-01 -2.12661363e-03 1.09602774e+02] [ 8.23804668e-01 5.66865247e-01 -3.10801467e-03 5.84883063e+01] [ 3.76591858e-03 9.89887013e-06 9.99992909e-01 4.56528342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.850888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:109.62, Y:58.51, Z:0.46 [[ 5.66378433e-01 -8.24142554e-01 -2.12611844e-03 1.09618776e+02] [ 8.24136693e-01 5.66382424e-01 -3.10835338e-03 5.85098680e+01] [ 3.76592241e-03 8.29209523e-06 9.99992909e-01 4.56885074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.880888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:109.64, Y:58.53, Z:0.46 [[ 5.65644469e-01 -8.24646480e-01 -2.12534567e-03 1.09636469e+02] [ 8.24640620e-01 5.65648462e-01 -3.10888167e-03 5.85316982e+01] [ 3.76592684e-03 5.87535243e-06 9.99992909e-01 4.57857788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.910888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:109.65, Y:58.55, Z:0.46 [[ 5.65507514e-01 -8.24740407e-01 -2.12447150e-03 1.09652757e+02] [ 8.24734545e-01 5.65511505e-01 -3.10947893e-03 5.85527406e+01] [ 3.76592599e-03 6.30866724e-06 9.99992909e-01 4.58037330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.940888479 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:109.67, Y:58.57, Z:0.46 [[ 5.65885804e-01 -8.24480895e-01 -2.12387748e-03 1.09669297e+02] [ 8.24475030e-01 5.65889790e-01 -3.10988461e-03 5.85738260e+01] [ 3.76592103e-03 8.75561039e-06 9.99992909e-01 4.58400409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.970888479 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:109.69, Y:58.60, Z:0.46 [[ 5.66408688e-01 -8.24121770e-01 -2.12310088e-03 1.09686197e+02] [ 8.24115900e-01 5.66412666e-01 -3.11041470e-03 5.85961123e+01] [ 3.76591170e-03 1.20847166e-05 9.99992909e-01 4.59049837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00088847899997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:109.70, Y:58.62, Z:0.46 [[ 5.68299118e-01 -8.22819305e-01 -2.12222102e-03 1.09703214e+02] [ 8.22813424e-01 5.68303080e-01 -3.11101491e-03 5.86178054e+01] [ 3.76586787e-03 2.17950847e-05 9.99992909e-01 4.59803013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03088847899997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:109.72, Y:58.64, Z:0.46 [[ 5.69087925e-01 -8.22273940e-01 -2.12143080e-03 1.09719851e+02] [ 8.22268053e-01 5.69091879e-01 -3.11155367e-03 5.86410083e+01] [ 3.76583854e-03 2.63628474e-05 9.99992909e-01 4.59660793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06088847899997 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:109.74, Y:58.66, Z:0.46 [[ 5.69798529e-01 -8.21781686e-01 -2.12055566e-03 1.09736362e+02] [ 8.21775794e-01 5.69802474e-01 -3.11214997e-03 5.86642996e+01] [ 3.76580572e-03 3.06771636e-05 9.99992909e-01 4.59212678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09088847899997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:109.75, Y:58.69, Z:0.46 [[ 5.71760785e-01 -8.20417645e-01 -2.11968472e-03 1.09753853e+02] [ 8.20411741e-01 5.71764713e-01 -3.11274306e-03 5.86868909e+01] [ 3.76571026e-03 4.07301819e-05 9.99992909e-01 4.57759679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12088847899997 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:109.77, Y:58.71, Z:0.46 [[ 5.72636627e-01 -8.19806565e-01 -2.11881340e-03 1.09770785e+02] [ 8.19800655e-01 5.72640545e-01 -3.11333604e-03 5.87092852e+01] [ 3.76565179e-03 4.58056337e-05 9.99992909e-01 4.58321166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.79, Y:58.73, Z:0.46 [[ 5.73505242e-01 -8.19199153e-01 -2.11792989e-03 1.09788504e+02] [ 8.19193236e-01 5.73509150e-01 -3.11393696e-03 5.87298424e+01] [ 3.76558669e-03 5.08653269e-05 9.99992909e-01 4.59553679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18088847899998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:109.81, Y:58.75, Z:0.46 [[ 5.73657322e-01 -8.19092666e-01 -2.11713506e-03 1.09805544e+02] [ 8.19086746e-01 5.73661226e-01 -3.11447727e-03 5.87528033e+01] [ 3.76556378e-03 5.25254223e-05 9.99992909e-01 4.59126697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21088847899998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:109.82, Y:58.78, Z:0.46 [[ 5.73621799e-01 -8.19117546e-01 -2.11628039e-03 1.09821680e+02] [ 8.19111624e-01 5.73625700e-01 -3.11505791e-03 5.87755791e+01] [ 3.76555140e-03 5.33952534e-05 9.99992909e-01 4.58017172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:58.80, Z:0.46 [[ 5.73227112e-01 -8.19393802e-01 -2.11541930e-03 1.09839346e+02] [ 8.19387881e-01 5.73231013e-01 -3.11564256e-03 5.87979201e+01] [ 3.76556215e-03 5.26218507e-05 9.99992909e-01 4.57240254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27088847899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:109.86, Y:58.82, Z:0.46 [[ 5.72657334e-01 -8.19792112e-01 -2.11452866e-03 1.09856339e+02] [ 8.19786191e-01 5.72661236e-01 -3.11624690e-03 5.88200705e+01] [ 3.76558322e-03 5.10802518e-05 9.99992909e-01 4.57641632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.87, Y:58.84, Z:0.46 [[ 5.71769983e-01 -8.20411250e-01 -2.11364312e-03 1.09872635e+02] [ 8.20405331e-01 5.71773887e-01 -3.11684742e-03 5.88412563e+01] [ 3.76562263e-03 4.80757103e-05 9.99992909e-01 4.58105992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.89, Y:58.86, Z:0.46 [[ 5.69547784e-01 -8.21955508e-01 -2.11284614e-03 1.09889985e+02] [ 8.21949597e-01 5.69551702e-01 -3.11738758e-03 5.88629234e+01] [ 3.76572901e-03 3.88481562e-05 9.99992909e-01 4.58057554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.91, Y:58.88, Z:0.46 [[ 5.68217815e-01 -8.22875479e-01 -2.11197426e-03 1.09906345e+02] [ 8.22869573e-01 5.68221739e-01 -3.11797815e-03 5.88847817e+01] [ 3.76577745e-03 3.38113781e-05 9.99992909e-01 4.57956371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:58.91, Z:0.46 [[ 5.66663037e-01 -8.23946931e-01 -2.11119252e-03 1.09922588e+02] [ 8.23941030e-01 5.66666969e-01 -3.11850738e-03 5.89068457e+01] [ 3.76582765e-03 2.76447212e-05 9.99992909e-01 4.58223013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.94, Y:58.93, Z:0.46 [[ 5.64954962e-01 -8.25119044e-01 -2.11041736e-03 1.09938931e+02] [ 8.25113149e-01 5.64958904e-01 -3.11903187e-03 5.89293840e+01] [ 3.76587167e-03 2.07794174e-05 9.99992909e-01 4.58417453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:58.95, Z:0.46 [[ 5.61390229e-01 -8.27548525e-01 -2.10956348e-03 1.09955810e+02] [ 8.27542645e-01 5.61394192e-01 -3.11960929e-03 5.89513720e+01] [ 3.76592475e-03 5.56443484e-06 9.99992909e-01 4.58892560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:58.97, Z:0.46 [[ 5.59178648e-01 -8.29044506e-01 -2.10868789e-03 1.09972031e+02] [ 8.29038635e-01 5.59182624e-01 -3.12020102e-03 5.89738472e+01] [ 3.76592715e-03 -3.43394394e-06 9.99992909e-01 4.59202770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:58.99, Z:0.46 [[ 5.55039357e-01 -8.31821417e-01 -2.10780721e-03 1.09989261e+02] [ 8.31815563e-01 5.55043359e-01 -3.12079584e-03 5.89947713e+01] [ 3.76586921e-03 -2.11423233e-05 9.99992909e-01 4.59020425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:59.02, Z:0.46 [[ 5.52789686e-01 -8.33318141e-01 -2.10701917e-03 1.10005437e+02] [ 8.33312296e-01 5.52793700e-01 -3.12132780e-03 5.90170414e+01] [ 3.76580601e-03 -3.03671666e-05 9.99992909e-01 4.58616939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.02, Y:59.04, Z:0.46 [[ 5.50769132e-01 -8.34654975e-01 -2.10626932e-03 1.10021581e+02] [ 8.34649137e-01 5.50773158e-01 -3.12183372e-03 5.90395330e+01] [ 3.76573065e-03 -3.85862295e-05 9.99992909e-01 4.58550708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:59.06, Z:0.46 [[ 5.47623786e-01 -8.36722030e-01 -2.10540011e-03 1.10037500e+02] [ 8.36716206e-01 5.47627831e-01 -3.12241981e-03 5.90614571e+01] [ 3.76557314e-03 -5.17110315e-05 9.99992909e-01 4.58008090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:59.08, Z:0.46 [[ 5.46535486e-01 -8.37433301e-01 -2.10462661e-03 1.10053470e+02] [ 8.37427479e-01 5.46539536e-01 -3.12294109e-03 5.90843944e+01] [ 3.76551652e-03 -5.56740297e-05 9.99992909e-01 4.57779972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:59.11, Z:0.46 [[ 5.45742030e-01 -8.37950602e-01 -2.10375105e-03 1.10069617e+02] [ 8.37944782e-01 5.45746082e-01 -3.12353080e-03 5.91073225e+01] [ 3.76547840e-03 -5.81851816e-05 9.99992909e-01 4.57799773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:59.13, Z:0.46 [[ 5.45583746e-01 -8.38053670e-01 -2.10287629e-03 1.10086104e+02] [ 8.38047849e-01 5.45587796e-01 -3.12411961e-03 5.91303798e+01] [ 3.76548354e-03 -5.78420699e-05 9.99992909e-01 4.58426397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:59.15, Z:0.46 [[ 5.46137736e-01 -8.37692757e-01 -2.10200253e-03 1.10101368e+02] [ 8.37686931e-01 5.46141779e-01 -3.12470739e-03 5.91524788e+01] [ 3.76553615e-03 -5.42994212e-05 9.99992909e-01 4.58771526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:59.18, Z:0.46 [[ 5.47110018e-01 -8.37058070e-01 -2.10121853e-03 1.10116928e+02] [ 8.37052237e-01 5.47114051e-01 -3.12523450e-03 5.91758228e+01] [ 3.76560894e-03 -4.89825677e-05 9.99992909e-01 4.59129536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.13, Y:59.20, Z:0.46 [[ 5.46879184e-01 -8.37208903e-01 -2.10035866e-03 1.10132813e+02] [ 8.37203069e-01 5.46883215e-01 -3.12581229e-03 5.91996031e+01] [ 3.76560877e-03 -4.89850436e-05 9.99992909e-01 4.59236801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:59.22, Z:0.46 [[ 5.48016873e-01 -8.36464643e-01 -2.09949657e-03 1.10148280e+02] [ 8.36458801e-01 5.48020893e-01 -3.12639121e-03 5.92232455e+01] [ 3.76568370e-03 -4.28272473e-05 9.99992909e-01 4.59772021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.16, Y:59.25, Z:0.46 [[ 5.51225057e-01 -8.34353961e-01 -2.09861694e-03 1.10163392e+02] [ 8.34348102e-01 5.51229051e-01 -3.12698156e-03 5.92462517e+01] [ 3.76582808e-03 -2.73064790e-05 9.99992909e-01 4.60598220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:59.27, Z:0.46 [[ 5.52557354e-01 -8.33472236e-01 -2.09801958e-03 1.10179355e+02] [ 8.33466369e-01 5.52561337e-01 -3.12738230e-03 5.92696335e+01] [ 3.76587083e-03 -2.05706721e-05 9.99992909e-01 4.61800141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:59.29, Z:0.46 [[ 5.53770959e-01 -8.32666396e-01 -2.09713849e-03 1.10195278e+02] [ 8.32660521e-01 5.53774930e-01 -3.12797302e-03 5.92927451e+01] [ 3.76590075e-03 -1.40238089e-05 9.99992909e-01 4.62507846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:59.32, Z:0.46 [[ 5.56045613e-01 -8.31149133e-01 -2.09625301e-03 1.10210524e+02] [ 8.31143245e-01 5.56049565e-01 -3.12856633e-03 5.93151047e+01] [ 3.76592577e-03 -2.66094698e-06 9.99992909e-01 4.62346169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.23, Y:59.34, Z:0.46 [[ 5.56752334e-01 -8.30675898e-01 -2.09546061e-03 1.10226050e+02] [ 8.30670004e-01 5.56756278e-01 -3.12909697e-03 5.93387788e+01] [ 3.76592629e-03 1.49576708e-06 9.99992909e-01 4.61915977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:59.36, Z:0.46 [[ 5.58592843e-01 -8.29439358e-01 -2.09462240e-03 1.10241662e+02] [ 8.29433453e-01 5.58596770e-01 -3.12965797e-03 5.93624378e+01] [ 3.76591081e-03 1.08546555e-05 9.99992909e-01 4.61579558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:59.39, Z:0.46 [[ 5.59484300e-01 -8.28838304e-01 -2.09374121e-03 1.10257759e+02] [ 8.28832393e-01 5.59488217e-01 -3.13024738e-03 5.93856824e+01] [ 3.76589247e-03 1.59637294e-05 9.99992909e-01 4.61604294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:59.41, Z:0.46 [[ 5.59940805e-01 -8.28529972e-01 -2.09285486e-03 1.10273425e+02] [ 8.28524057e-01 5.59944716e-01 -3.13083987e-03 5.94093914e+01] [ 3.76587769e-03 1.91043992e-05 9.99992909e-01 4.61803230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:59.43, Z:0.46 [[ 5.59522460e-01 -8.28812549e-01 -2.09196639e-03 1.10288449e+02] [ 8.28806633e-01 5.59526370e-01 -3.13143342e-03 5.94331237e+01] [ 3.76588167e-03 1.82717132e-05 9.99992909e-01 4.57474105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.30, Y:59.46, Z:0.46 [[ 5.61831545e-01 -8.27249037e-01 -2.08483366e-03 1.10303915e+02] [ 8.27243093e-01 5.61835412e-01 -3.13619536e-03 5.94561577e+01] [ 3.76574797e-03 3.73492400e-05 9.99992909e-01 4.61375061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:59.48, Z:0.46 [[ 5.62110956e-01 -8.27059189e-01 -2.09078334e-03 1.10318686e+02] [ 8.27053258e-01 5.62114844e-01 -3.13222391e-03 5.94785506e+01] [ 3.76579491e-03 3.14681971e-05 9.99992909e-01 4.61344920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:59.50, Z:0.46 [[ 5.62360631e-01 -8.26889444e-01 -2.08998145e-03 1.10333878e+02] [ 8.26883510e-01 5.62364514e-01 -3.13275888e-03 5.95025331e+01] [ 3.76577665e-03 3.35690572e-05 9.99992909e-01 4.61543135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:59.53, Z:0.46 [[ 5.62089952e-01 -8.27073468e-01 -2.08910175e-03 1.10349199e+02] [ 8.27067533e-01 5.62093833e-01 -3.13334540e-03 5.95264311e+01] [ 3.76577806e-03 3.33937330e-05 9.99992909e-01 4.60982411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:59.55, Z:0.46 [[ 5.61604168e-01 -8.27403407e-01 -2.08821811e-03 1.10363957e+02] [ 8.27397473e-01 5.61608049e-01 -3.13393419e-03 5.95486309e+01] [ 3.76578793e-03 3.22441131e-05 9.99992909e-01 4.60605533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:59.57, Z:0.46 [[ 5.61210560e-01 -8.27670436e-01 -2.08742479e-03 1.10379575e+02] [ 8.27664501e-01 5.61214441e-01 -3.13446251e-03 5.95713534e+01] [ 3.76579489e-03 3.14060606e-05 9.99992909e-01 4.58659105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:59.59, Z:0.46 [[ 5.59302610e-01 -8.28960955e-01 -2.07972952e-03 1.10397289e+02] [ 8.28955010e-01 5.59306476e-01 -3.13958386e-03 5.95936417e+01] [ 3.76579862e-03 3.19752430e-05 9.99992909e-01 4.60592775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:59.62, Z:0.46 [[ 5.58116591e-01 -8.29759917e-01 -2.08617552e-03 1.10413321e+02] [ 8.29753993e-01 5.58120489e-01 -3.13529479e-03 5.96167703e+01] [ 3.76587925e-03 1.88475709e-05 9.99992909e-01 4.60278298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.43, Y:59.64, Z:0.46 [[ 5.56328463e-01 -8.30959862e-01 -2.08530424e-03 1.10429505e+02] [ 8.30953945e-01 5.56332371e-01 -3.13587418e-03 5.96379816e+01] [ 3.76590783e-03 1.17842779e-05 9.99992909e-01 4.59461428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:59.66, Z:0.46 [[ 5.54970682e-01 -8.31867295e-01 -2.08452478e-03 1.10446154e+02] [ 8.31861383e-01 5.54974597e-01 -3.13639223e-03 5.96611207e+01] [ 3.76592042e-03 6.57007271e-06 9.99992909e-01 4.59413505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:59.68, Z:0.46 [[ 5.53570900e-01 -8.32799446e-01 -2.08367373e-03 1.10462747e+02] [ 8.32793537e-01 5.53574822e-01 -3.13695753e-03 5.96836768e+01] [ 3.76592580e-03 1.25839125e-06 9.99992909e-01 4.60766771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.48, Y:59.71, Z:0.46 [[ 5.51460871e-01 -8.34198160e-01 -2.08278614e-03 1.10479873e+02] [ 8.34192259e-01 5.51464804e-01 -3.13754673e-03 5.97053039e+01] [ 3.76591896e-03 -7.20982272e-06 9.99992909e-01 4.61062040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:59.73, Z:0.46 [[ 5.50702404e-01 -8.34699064e-01 -2.08198625e-03 1.10495960e+02] [ 8.34693165e-01 5.50706340e-01 -3.13807742e-03 5.97281601e+01] [ 3.76591332e-03 -9.67291268e-06 9.99992909e-01 4.61503718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:59.75, Z:0.46 [[ 5.50151313e-01 -8.35062394e-01 -2.08109595e-03 1.10511172e+02] [ 8.35056496e-01 5.50155249e-01 -3.13866774e-03 5.97500336e+01] [ 3.76590926e-03 -1.10905083e-05 9.99992909e-01 4.61031830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.53, Y:59.77, Z:0.46 [[ 5.49505905e-01 -8.35487243e-01 -2.08029790e-03 1.10526542e+02] [ 8.35481345e-01 5.49509842e-01 -3.13919659e-03 5.97728142e+01] [ 3.76590288e-03 -1.30430273e-05 9.99992909e-01 4.60756541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.54, Y:59.80, Z:0.46 [[ 5.48761491e-01 -8.35976376e-01 -2.07950450e-03 1.10543232e+02] [ 8.35970480e-01 5.48765431e-01 -3.13972208e-03 5.97954005e+01] [ 3.76589367e-03 -1.54457986e-05 9.99992909e-01 4.60978227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:59.82, Z:0.46 [[ 5.47920360e-01 -8.36527918e-01 -2.07863198e-03 1.10559242e+02] [ 8.36522024e-01 5.47924303e-01 -3.14029962e-03 5.98183456e+01] [ 3.76588128e-03 -1.81873375e-05 9.99992909e-01 4.61589338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.58, Y:59.84, Z:0.46 [[ 5.46671703e-01 -8.37344452e-01 -2.07776089e-03 1.10575253e+02] [ 8.37338562e-01 5.46675651e-01 -3.14087586e-03 5.98412002e+01] [ 3.76585627e-03 -2.27613598e-05 9.99992909e-01 4.62425857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:59.86, Z:0.46 [[ 5.44355413e-01 -8.38852115e-01 -2.07687056e-03 1.10591431e+02] [ 8.38846233e-01 5.44359374e-01 -3.14146448e-03 5.98630282e+01] [ 3.76578808e-03 -3.21018469e-05 9.99992909e-01 4.63515685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.61, Y:59.89, Z:0.46 [[ 5.42850694e-01 -8.39826657e-01 -2.07606034e-03 1.10607188e+02] [ 8.39820780e-01 5.42854663e-01 -3.14199982e-03 5.98859343e+01] [ 3.76573425e-03 -3.78818321e-05 9.99992909e-01 4.64761468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:59.91, Z:0.47 [[ 5.41883886e-01 -8.40450800e-01 -2.07516772e-03 1.10623287e+02] [ 8.40444926e-01 5.41887858e-01 -3.14258926e-03 5.99090919e+01] [ 3.76569985e-03 -4.11456951e-05 9.99992909e-01 4.65693908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.64, Y:59.93, Z:0.47 [[ 5.41142152e-01 -8.40928575e-01 -2.07427832e-03 1.10639140e+02] [ 8.40922702e-01 5.41146126e-01 -3.14317620e-03 5.99319014e+01] [ 3.76567436e-03 -4.34025956e-05 9.99992909e-01 4.67066963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:59.96, Z:0.47 [[ 5.41350078e-01 -8.40794740e-01 -2.07338612e-03 1.10654629e+02] [ 8.40788864e-01 5.41354047e-01 -3.14376462e-03 5.99553471e+01] [ 3.76569673e-03 -4.14027395e-05 9.99992909e-01 4.67010949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.67, Y:59.98, Z:0.47 [[ 5.42101414e-01 -8.40310515e-01 -2.07250096e-03 1.10670000e+02] [ 8.40304633e-01 5.42105374e-01 -3.14434805e-03 5.99784073e+01] [ 3.76574264e-03 -3.69766329e-05 9.99992909e-01 4.66490575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:60.00, Z:0.47 [[ 5.44599704e-01 -8.38693550e-01 -2.07161844e-03 1.10685687e+02] [ 8.38687654e-01 5.44603643e-01 -3.14492938e-03 6.00021038e+01] [ 3.76584294e-03 -2.47131993e-05 9.99992909e-01 4.65942125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:60.03, Z:0.47 [[ 5.45930366e-01 -8.37827994e-01 -2.07074555e-03 1.10701137e+02] [ 8.37822090e-01 5.45934293e-01 -3.14550402e-03 6.00257518e+01] [ 3.76588233e-03 -1.76902057e-05 9.99992909e-01 4.65503335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:60.05, Z:0.46 [[ 5.48794962e-01 -8.35954428e-01 -2.06987259e-03 1.10714826e+02] [ 8.35948508e-01 5.48798866e-01 -3.14607836e-03 6.00491021e+01] [ 3.76592187e-03 -3.75495291e-06 9.99992909e-01 4.63714441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:60.07, Z:0.46 [[ 5.50047701e-01 -8.35130675e-01 -2.06912145e-03 1.10729546e+02] [ 8.35124748e-01 5.50051593e-01 -3.14657229e-03 6.00730758e+01] [ 3.76592260e-03 2.79032412e-06 9.99992909e-01 4.63013297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.74, Y:60.10, Z:0.46 [[ 5.51132202e-01 -8.34415375e-01 -2.06827224e-03 1.10744519e+02] [ 8.34409440e-01 5.51136083e-01 -3.14713039e-03 6.00970572e+01] [ 3.76591345e-03 8.69901446e-06 9.99992909e-01 4.62752784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:60.12, Z:0.46 [[ 5.52343434e-01 -8.33614093e-01 -2.06742467e-03 1.10758675e+02] [ 8.33608151e-01 5.52347303e-01 -3.14768708e-03 6.01202623e+01] [ 3.76589275e-03 1.51822393e-05 9.99992909e-01 4.63565353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:60.14, Z:0.46 [[ 5.52683106e-01 -8.33388951e-01 -2.05938394e-03 1.10773737e+02] [ 8.33382987e-01 5.52686942e-01 -3.15296533e-03 6.01436246e+01] [ 3.76584108e-03 2.63351286e-05 9.99992909e-01 4.63981234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:60.17, Z:0.46 [[ 5.52768658e-01 -8.33332192e-01 -2.06623749e-03 1.10788920e+02] [ 8.33326244e-01 5.52772519e-01 -3.14846757e-03 6.01672714e+01] [ 3.76587868e-03 1.85242650e-05 9.99992909e-01 4.64384568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:60.19, Z:0.46 [[ 5.52450870e-01 -8.33542902e-01 -2.06539301e-03 1.10804003e+02] [ 8.33536954e-01 5.52454731e-01 -3.14902145e-03 6.01912019e+01] [ 3.76588062e-03 1.80982406e-05 9.99992909e-01 4.64574967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:60.22, Z:0.47 [[ 5.52154968e-01 -8.33738945e-01 -2.06455988e-03 1.10819334e+02] [ 8.33732996e-01 5.52158828e-01 -3.14956757e-03 6.02150047e+01] [ 3.76588211e-03 1.77576905e-05 9.99992909e-01 4.65098876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:60.24, Z:0.47 [[ 5.51455814e-01 -8.34201550e-01 -2.06372319e-03 1.10834753e+02] [ 8.34195603e-01 5.51459675e-01 -3.15011571e-03 6.02376766e+01] [ 3.76589153e-03 1.56008076e-05 9.99992909e-01 4.66546403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:60.26, Z:0.47 [[ 5.50858395e-01 -8.34596173e-01 -2.06319357e-03 1.10850419e+02] [ 8.34590227e-01 5.50862258e-01 -3.15046255e-03 6.02611149e+01] [ 3.76589946e-03 1.35375566e-05 9.99992909e-01 4.67794118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:60.28, Z:0.47 [[ 5.50155349e-01 -8.35059782e-01 -2.06232270e-03 1.10865583e+02] [ 8.35053837e-01 5.50159214e-01 -3.15103253e-03 6.02844369e+01] [ 3.76590637e-03 1.14069215e-05 9.99992909e-01 4.68388071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:60.31, Z:0.47 [[ 5.50368253e-01 -8.34919479e-01 -2.06145073e-03 1.10880314e+02] [ 8.34913531e-01 5.50372113e-01 -3.15160288e-03 6.03069133e+01] [ 3.76589963e-03 1.34090652e-05 9.99992909e-01 4.67920370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:60.33, Z:0.47 [[ 5.50800569e-01 -8.34634343e-01 -2.06085866e-03 1.10895286e+02] [ 8.34628391e-01 5.50804425e-01 -3.15198999e-03 6.03301726e+01] [ 3.76588916e-03 1.60667353e-05 9.99992909e-01 4.67644624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:60.35, Z:0.47 [[ 5.52623565e-01 -8.33428432e-01 -2.05999954e-03 1.10910188e+02] [ 8.33422470e-01 5.52627404e-01 -3.15255138e-03 6.03539852e+01] [ 3.76583815e-03 2.53242794e-05 9.99992909e-01 4.67416531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.93, Y:60.38, Z:0.47 [[ 5.53407074e-01 -8.32908381e-01 -2.05916857e-03 1.10925361e+02] [ 8.32902413e-01 5.53410904e-01 -3.15309405e-03 6.03780890e+01] [ 3.76580480e-03 2.98580826e-05 9.99992909e-01 4.67420686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:60.40, Z:0.47 [[ 5.53925520e-01 -8.32563680e-01 -2.05827543e-03 1.10939668e+02] [ 8.32557708e-01 5.53929343e-01 -3.15367696e-03 6.04008963e+01] [ 3.76577606e-03 3.32690738e-05 9.99992909e-01 4.66613628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:60.42, Z:0.47 [[ 5.54175958e-01 -8.32397005e-01 -2.05747968e-03 1.10953884e+02] [ 8.32391030e-01 5.54179776e-01 -3.15419603e-03 6.04246743e+01] [ 3.76575696e-03 3.53519787e-05 9.99992909e-01 4.65347097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:60.45, Z:0.47 [[ 5.53892837e-01 -8.32585429e-01 -2.05659515e-03 1.10969133e+02] [ 8.32579452e-01 5.53896654e-01 -3.15477266e-03 6.04481445e+01] [ 3.76575892e-03 3.51271156e-05 9.99992909e-01 4.65079975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:60.47, Z:0.46 [[ 5.53739220e-01 -8.32687606e-01 -2.05570970e-03 1.10984764e+02] [ 8.32681629e-01 5.53743035e-01 -3.15534952e-03 6.04718602e+01] [ 3.76575537e-03 3.54890823e-05 9.99992909e-01 4.64319065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:60.49, Z:0.46 [[ 5.53609583e-01 -8.32773803e-01 -2.05482603e-03 1.10999777e+02] [ 8.32767824e-01 5.53613395e-01 -3.15592488e-03 6.04944817e+01] [ 3.76575078e-03 3.59572570e-05 9.99992909e-01 4.63606946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:60.52, Z:0.46 [[ 5.52927394e-01 -8.33226906e-01 -2.05422459e-03 1.11016722e+02] [ 8.33220929e-01 5.52931209e-01 -3.15631632e-03 6.05177614e+01] [ 3.76577257e-03 3.35908357e-05 9.99992909e-01 4.64549893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:60.54, Z:0.47 [[ 5.52960809e-01 -8.33204714e-01 -2.06094075e-03 1.11031816e+02] [ 8.33198753e-01 5.52964649e-01 -3.15194592e-03 6.05404758e+01] [ 3.76584358e-03 2.57293019e-05 9.99992909e-01 4.65301101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:60.56, Z:0.47 [[ 5.51983582e-01 -8.33852451e-01 -2.05312100e-03 1.11046296e+02] [ 8.33846475e-01 5.51987399e-01 -3.15703136e-03 6.05642909e+01] [ 3.76579526e-03 3.06417697e-05 9.99992909e-01 4.65539869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:60.59, Z:0.47 [[ 5.50864985e-01 -8.34591850e-01 -2.05224453e-03 1.11059786e+02] [ 8.34585877e-01 5.50868808e-01 -3.15760101e-03 6.05873025e+01] [ 3.76582557e-03 2.66375303e-05 9.99992909e-01 4.65164529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:60.61, Z:0.46 [[ 5.48951117e-01 -8.35851938e-01 -2.05145148e-03 1.11074708e+02] [ 8.35845972e-01 5.48954950e-01 -3.15811616e-03 6.06109480e+01] [ 3.76587196e-03 1.89539411e-05 9.99992909e-01 4.64477513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:60.63, Z:0.47 [[ 5.47809292e-01 -8.36600725e-01 -2.05106781e-03 1.11090362e+02] [ 8.36594763e-01 5.47813132e-01 -3.15836532e-03 6.06339177e+01] [ 3.76589260e-03 1.42692785e-05 9.99992909e-01 4.65063425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:60.66, Z:0.47 [[ 5.47582838e-01 -8.36748966e-01 -2.05021232e-03 1.11105863e+02] [ 8.36743003e-01 5.47586676e-01 -3.15892056e-03 6.06579518e+01] [ 3.76589246e-03 1.42698712e-05 9.99992909e-01 4.65170686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:60.68, Z:0.47 [[ 5.45380958e-01 -8.38185785e-01 -2.04935717e-03 1.11122181e+02] [ 8.38179831e-01 5.45384808e-01 -3.15947524e-03 6.06806514e+01] [ 3.76591550e-03 5.38778816e-06 9.99992909e-01 4.66816288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:60.70, Z:0.47 [[ 5.44679768e-01 -8.38641612e-01 -2.04847609e-03 1.11138119e+02] [ 8.38635659e-01 5.44683620e-01 -3.16004639e-03 6.07039939e+01] [ 3.76591777e-03 3.28823806e-06 9.99992909e-01 4.67779544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:60.73, Z:0.47 [[ 5.44259876e-01 -8.38914176e-01 -2.04758439e-03 1.11153343e+02] [ 8.38908222e-01 5.44263727e-01 -3.16062407e-03 6.07268914e+01] [ 3.76591825e-03 2.46548614e-06 9.99992909e-01 4.67485216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:60.75, Z:0.47 [[ 5.44280530e-01 -8.38900778e-01 -2.04678630e-03 1.11168077e+02] [ 8.38894822e-01 5.44284379e-01 -3.16114082e-03 6.07503623e+01] [ 3.76591730e-03 3.50897880e-06 9.99992909e-01 4.67292788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:60.78, Z:0.47 [[ 5.45633870e-01 -8.38021178e-01 -2.04593405e-03 1.11180948e+02] [ 8.38015214e-01 5.45637705e-01 -3.16169231e-03 6.07755770e+01] [ 3.76590388e-03 1.06025477e-05 9.99992909e-01 4.67168786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:60.80, Z:0.47 [[ 5.46302745e-01 -8.37585296e-01 -2.04504548e-03 1.11195583e+02] [ 8.37579327e-01 5.46306573e-01 -3.16226695e-03 6.07998975e+01] [ 3.76589009e-03 1.46673035e-05 9.99992909e-01 4.66555649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:60.82, Z:0.47 [[ 5.46963560e-01 -8.37153920e-01 -2.04415369e-03 1.11210188e+02] [ 8.37147945e-01 5.46967379e-01 -3.16284332e-03 6.08223665e+01] [ 3.76587207e-03 1.87009823e-05 9.99992909e-01 4.66169878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:60.85, Z:0.47 [[ 5.47760246e-01 -8.36632857e-01 -2.04354507e-03 1.11225909e+02] [ 8.36626877e-01 5.47764057e-01 -3.16323650e-03 6.08451813e+01] [ 3.76584813e-03 2.30104743e-05 9.99992909e-01 4.67351710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:60.87, Z:0.47 [[ 5.47614249e-01 -8.36728428e-01 -2.04265247e-03 1.11241082e+02] [ 8.36722447e-01 5.47618058e-01 -3.16381280e-03 6.08689207e+01] [ 3.76584548e-03 2.34157985e-05 9.99992909e-01 4.67080334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:60.89, Z:0.47 [[ 5.48080944e-01 -8.36422785e-01 -2.05033554e-03 1.11255179e+02] [ 8.36416820e-01 5.48084779e-01 -3.15885392e-03 6.08922147e+01] [ 3.76589509e-03 1.63725095e-05 9.99992909e-01 4.67998578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.27, Y:60.92, Z:0.47 [[ 5.48661247e-01 -8.36042265e-01 -2.04134519e-03 1.11269446e+02] [ 8.36036276e-01 5.48665044e-01 -3.16465310e-03 6.09154700e+01] [ 3.76579850e-03 2.96838845e-05 9.99992909e-01 4.68396032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:60.94, Z:0.47 [[ 5.48741068e-01 -8.35989878e-01 -2.04054762e-03 1.11284117e+02] [ 8.35983887e-01 5.48744861e-01 -3.16516729e-03 6.09389137e+01] [ 3.76578784e-03 3.09923504e-05 9.99992909e-01 4.68859340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:60.96, Z:0.47 [[ 5.48571018e-01 -8.36101476e-01 -2.03968449e-03 1.11298940e+02] [ 8.36095483e-01 5.48574809e-01 -3.16572340e-03 6.09628719e+01] [ 3.76578554e-03 3.12531196e-05 9.99992909e-01 4.69412715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:60.99, Z:0.47 [[ 5.48927051e-01 -8.35867774e-01 -2.03879910e-03 1.11314323e+02] [ 8.35861778e-01 5.48930836e-01 -3.16629351e-03 6.09869482e+01] [ 3.76576241e-03 3.39099195e-05 9.99992909e-01 4.70689897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:61.01, Z:0.47 [[ 5.49204201e-01 -8.35685702e-01 -2.03789151e-03 1.11328701e+02] [ 8.35679702e-01 5.49207981e-01 -3.16687755e-03 6.10099951e+01] [ 3.76574057e-03 3.62378828e-05 9.99992909e-01 4.71058839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:61.03, Z:0.47 [[ 5.49542591e-01 -8.35463220e-01 -2.03707262e-03 1.11343126e+02] [ 8.35457216e-01 5.49546365e-01 -3.16740421e-03 6.10337262e+01] [ 3.76571557e-03 3.87364986e-05 9.99992909e-01 4.71252417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:61.06, Z:0.47 [[ 5.50381648e-01 -8.34910711e-01 -2.03617399e-03 1.11355986e+02] [ 8.34904702e-01 5.50385413e-01 -3.16798179e-03 6.10575158e+01] [ 3.76566239e-03 4.35877958e-05 9.99992909e-01 4.70477019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:61.08, Z:0.47 [[ 5.50576257e-01 -8.34782392e-01 -2.03536612e-03 1.11371071e+02] [ 8.34776380e-01 5.50580018e-01 -3.16850075e-03 6.10821113e+01] [ 3.76564055e-03 4.54257237e-05 9.99992909e-01 4.69827651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:61.11, Z:0.47 [[ 5.50719677e-01 -8.34687775e-01 -2.03863201e-03 1.11385277e+02] [ 8.34681770e-01 5.50723449e-01 -3.16640345e-03 6.11060237e+01] [ 3.76568070e-03 4.21917168e-05 9.99992909e-01 4.70705680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:61.13, Z:0.47 [[ 5.50703205e-01 -8.34698653e-01 -2.03433716e-03 1.11399808e+02] [ 8.34692638e-01 5.50706960e-01 -3.16916038e-03 6.11301120e+01] [ 3.76561754e-03 4.72205294e-05 9.99992909e-01 4.70331779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:61.15, Z:0.47 [[ 5.50568558e-01 -8.34787475e-01 -2.03344887e-03 1.11413399e+02] [ 8.34781458e-01 5.50572311e-01 -3.16973024e-03 6.11538087e+01] [ 3.76561175e-03 4.76683928e-05 9.99992909e-01 4.69006785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:61.18, Z:0.47 [[ 5.50358010e-01 -8.34926301e-01 -2.03265932e-03 1.11428149e+02] [ 8.34920284e-01 5.50361762e-01 -3.17023647e-03 6.11779414e+01] [ 3.76561178e-03 4.76565397e-05 9.99992909e-01 4.69773049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:61.20, Z:0.47 [[ 5.50075391e-01 -8.35112529e-01 -2.03178088e-03 1.11442409e+02] [ 8.35106511e-01 5.50079142e-01 -3.17079936e-03 6.12005655e+01] [ 3.76561456e-03 4.74252563e-05 9.99992909e-01 4.69590606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:61.22, Z:0.47 [[ 5.49557366e-01 -8.35453515e-01 -2.03118591e-03 1.11457428e+02] [ 8.35447498e-01 5.49561118e-01 -3.17118044e-03 6.12243024e+01] [ 3.76563465e-03 4.57963815e-05 9.99992909e-01 4.70286908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:61.25, Z:0.47 [[ 5.48770476e-01 -8.35970599e-01 -2.03029107e-03 1.11471788e+02] [ 8.35964583e-01 5.48774230e-01 -3.17175325e-03 6.12477358e+01] [ 3.76566388e-03 4.33131113e-05 9.99992909e-01 4.70225900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:61.27, Z:0.47 [[ 5.48160281e-01 -8.36370843e-01 -2.02968148e-03 1.11486553e+02] [ 8.36364829e-01 5.48164037e-01 -3.17214329e-03 6.12718731e+01] [ 3.76568655e-03 4.12887531e-05 9.99992909e-01 4.69706474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:61.30, Z:0.47 [[ 5.47497991e-01 -8.36804538e-01 -2.02880113e-03 1.11500864e+02] [ 8.36798524e-01 5.47501748e-01 -3.17270623e-03 6.12953952e+01] [ 3.76570714e-03 3.93524948e-05 9.99992909e-01 4.68935272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.52, Y:61.32, Z:0.47 [[ 5.46368118e-01 -8.37542695e-01 -2.02820298e-03 1.11515458e+02] [ 8.37536685e-01 5.46371881e-01 -3.17308857e-03 6.13198369e+01] [ 3.76575023e-03 3.49800324e-05 9.99992909e-01 4.69191346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:61.34, Z:0.47 [[ 5.45235509e-01 -8.38280460e-01 -2.02730473e-03 1.11530580e+02] [ 8.38274453e-01 5.45239277e-01 -3.17366236e-03 6.13439248e+01] [ 3.76578531e-03 3.09556480e-05 9.99992909e-01 4.69586457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.55, Y:61.37, Z:0.47 [[ 5.44026292e-01 -8.39065723e-01 -2.02640677e-03 1.11545584e+02] [ 8.39059719e-01 5.44030066e-01 -3.17423561e-03 6.13676229e+01] [ 3.76581851e-03 2.65913404e-05 9.99992909e-01 4.70079237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:61.39, Z:0.47 [[ 5.40874886e-01 -8.41100621e-01 -2.02550985e-03 1.11559991e+02] [ 8.41094630e-01 5.40878678e-01 -3.17480784e-03 6.13910603e+01] [ 3.76588794e-03 1.35283681e-05 9.99992909e-01 4.71716631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:61.41, Z:0.47 [[ 5.39188734e-01 -8.42182528e-01 -2.02469483e-03 1.11573843e+02] [ 8.42176542e-01 5.39192535e-01 -3.17532753e-03 6.14138364e+01] [ 3.76590570e-03 6.95034291e-06 9.99992909e-01 4.71557907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:61.44, Z:0.47 [[ 5.37373046e-01 -8.43342228e-01 -2.02389181e-03 1.11588686e+02] [ 8.43336248e-01 5.37376858e-01 -3.17583927e-03 6.14382493e+01] [ 3.76591199e-03 -2.10899875e-07 9.99992909e-01 4.72993709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:61.46, Z:0.47 [[ 5.35262776e-01 -8.44683176e-01 -2.02300521e-03 1.11603057e+02] [ 8.44677204e-01 5.35266599e-01 -3.17640394e-03 6.14624440e+01] [ 3.76590208e-03 -8.57559337e-06 9.99992909e-01 4.73820113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:61.49, Z:0.48 [[ 5.31657465e-01 -8.46957054e-01 -2.02211272e-03 1.11616456e+02] [ 8.46951096e-01 5.31661310e-01 -3.17697200e-03 6.14862261e+01] [ 3.76583794e-03 -2.35697069e-05 9.99992909e-01 4.75176752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:61.51, Z:0.48 [[ 5.29902573e-01 -8.48056116e-01 -2.02152471e-03 1.11630227e+02] [ 8.48050165e-01 5.29906428e-01 -3.17734610e-03 6.15105218e+01] [ 3.76578674e-03 -3.06704878e-05 9.99992909e-01 4.75549421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:61.53, Z:0.48 [[ 5.29646237e-01 -8.48216234e-01 -2.02064988e-03 1.11642701e+02] [ 8.48210282e-01 5.29650091e-01 -3.17790236e-03 6.15336931e+01] [ 3.76578577e-03 -3.07719731e-05 9.99992909e-01 4.75530314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:61.56, Z:0.48 [[ 5.27021209e-01 -8.49849776e-01 -2.00090144e-03 1.11657874e+02] [ 8.49843787e-01 5.27025007e-01 -3.19044783e-03 6.15604033e+01] [ 3.76592647e-03 -1.90199827e-05 9.99992909e-01 4.75044026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.67, Y:61.58, Z:0.48 [[ 5.24270233e-01 -8.51549555e-01 -2.01932906e-03 1.11671301e+02] [ 8.51543624e-01 5.24274119e-01 -3.17874150e-03 6.15847897e+01] [ 3.76553787e-03 -5.30272428e-05 9.99992909e-01 4.75048791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.68, Y:61.61, Z:0.47 [[ 5.21528133e-01 -8.53231699e-01 -2.01844401e-03 1.11684025e+02] [ 8.53225778e-01 5.21532035e-01 -3.17930339e-03 6.16092038e+01] [ 3.76536564e-03 -6.40923003e-05 9.99992909e-01 4.74176709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.70, Y:61.63, Z:0.48 [[ 5.21016040e-01 -8.53544521e-01 -2.00904876e-03 1.11699204e+02] [ 8.53538580e-01 5.21019910e-01 -3.18526513e-03 6.16328302e+01] [ 3.76552001e-03 -5.52264043e-05 9.99992909e-01 4.75672380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:61.66, Z:0.47 [[ 5.17653834e-01 -8.55587774e-01 -2.01723718e-03 1.11711917e+02] [ 8.55581868e-01 5.17657758e-01 -3.18007091e-03 6.16585874e+01] [ 3.76506827e-03 -7.97356582e-05 9.99992909e-01 4.74886591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.73, Y:61.68, Z:0.47 [[ 5.15841885e-01 -8.56681437e-01 -2.01633597e-03 1.11725308e+02] [ 8.56675537e-01 5.15845818e-01 -3.18064223e-03 6.16827137e+01] [ 3.76491563e-03 -8.66372137e-05 9.99992909e-01 4.74568258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.73, Y:61.70, Z:0.47 [[ 5.17524602e-01 -8.55665953e-01 -2.01554200e-03 1.11734107e+02] [ 8.55660044e-01 5.17528521e-01 -3.18114528e-03 6.17007846e+01] [ 3.76509818e-03 -7.82978062e-05 9.99992909e-01 4.73994265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:111.75, Y:61.73, Z:0.47 [[ 5.13782665e-01 -8.57918172e-01 -1.94531857e-03 1.11749915e+02] [ 8.57912108e-01 5.13786347e-01 -3.22552753e-03 6.17299125e+01] [ 3.76671681e-03 -1.16922258e-05 9.99992906e-01 4.71612791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.77, Y:61.76, Z:0.47 [[ 5.11164308e-01 -8.59480704e-01 -1.99215147e-03 1.11765206e+02] [ 8.59474766e-01 5.11168184e-01 -3.19588680e-03 6.17568801e+01] [ 3.76512749e-03 -7.85806536e-05 9.99992909e-01 4.74715596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08088847899998 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:111.78, Y:61.78, Z:0.47 [[ 5.10278276e-01 -8.60006991e-01 -2.01388213e-03 1.11779859e+02] [ 8.60001111e-01 5.10282239e-01 -3.18213409e-03 6.17824794e+01] [ 3.76430585e-03 -1.08166970e-04 9.99992909e-01 4.72207292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11088847899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:111.79, Y:61.81, Z:0.48 [[ 5.09999419e-01 -8.60172359e-01 -2.02631736e-03 1.11791449e+02] [ 8.60166511e-01 5.10003429e-01 -3.17426692e-03 6.18052832e+01] [ 3.76384546e-03 -1.24096049e-04 9.99992909e-01 4.75894058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14088847899998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:111.80, Y:61.83, Z:0.48 [[ 5.09467395e-01 -8.60487627e-01 -2.00451584e-03 1.11802392e+02] [ 8.60481727e-01 5.09471328e-01 -3.18804915e-03 6.18318233e+01] [ 3.76452019e-03 -1.00642155e-04 9.99992909e-01 4.76276373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17088847899998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:111.81, Y:61.86, Z:0.48 [[ 5.10434827e-01 -8.59914089e-01 -2.01187685e-03 1.11814580e+02] [ 8.59908203e-01 5.10438781e-01 -3.18339706e-03 6.18562532e+01] [ 3.76438795e-03 -1.05112681e-04 9.99992909e-01 4.78015753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20088847899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:111.83, Y:61.88, Z:0.48 [[ 5.11169765e-01 -8.59477432e-01 -2.00363014e-03 1.11828041e+02] [ 8.59471522e-01 5.11173684e-01 -3.18860676e-03 6.18815193e+01] [ 3.76473855e-03 -9.21436817e-05 9.99992909e-01 4.77984064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230888479 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:111.84, Y:61.91, Z:0.48 [[ 5.14248664e-01 -8.57638774e-01 -2.01094225e-03 1.11838383e+02] [ 8.57632869e-01 5.14252589e-01 -3.18398858e-03 6.19073356e+01] [ 3.76484432e-03 -8.72882983e-05 9.99992909e-01 4.78105228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260888479 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:111.85, Y:61.93, Z:0.48 [[ 5.16189175e-01 -8.56472239e-01 -2.01012332e-03 1.11850579e+02] [ 8.56466322e-01 5.16193083e-01 -3.18450551e-03 6.19328455e+01] [ 3.76505231e-03 -7.77956529e-05 9.99992909e-01 4.78479552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:111.86, Y:61.96, Z:0.48 [[ 5.18480692e-01 -8.55086975e-01 -2.00923526e-03 1.11862838e+02] [ 8.55081046e-01 5.18484581e-01 -3.18506572e-03 6.19581947e+01] [ 3.76526571e-03 -6.66639133e-05 9.99992909e-01 4.78252300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.320888479 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:111.88, Y:61.99, Z:0.48 [[ 5.23703506e-01 -8.51898236e-01 -2.00834328e-03 1.11876004e+02] [ 8.51892280e-01 5.23707356e-01 -3.18562806e-03 6.19872102e+01] [ 3.76561507e-03 -4.25675464e-05 9.99992909e-01 4.77670313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.350888479 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:111.89, Y:62.01, Z:0.48 [[ 5.25177135e-01 -8.50990502e-01 -2.03528188e-03 1.11885392e+02] [ 8.50984605e-01 5.25181075e-01 -3.16864306e-03 6.20107213e+01] [ 3.76537667e-03 -6.78946577e-05 9.99992909e-01 4.76565665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.380888479 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:111.91, Y:62.04, Z:0.48 [[ 5.29974555e-01 -8.48011169e-01 -2.00715404e-03 1.11905239e+02] [ 8.48005182e-01 5.29978356e-01 -3.18636136e-03 6.20376794e+01] [ 3.76581822e-03 -1.33865796e-05 9.99992909e-01 4.76270643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.410888479 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:111.91, Y:62.06, Z:0.48 [[ 5.30001686e-01 -8.47994103e-01 -2.05277739e-03 1.11912277e+02] [ 8.47988227e-01 5.30005657e-01 -3.15759989e-03 6.20601273e+01] [ 3.76560972e-03 -6.71977955e-05 9.99992908e-01 4.77303631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.440888479 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:111.92, Y:62.09, Z:0.48 [[ 5.33987998e-01 -8.45489677e-01 -2.00603923e-03 1.11923629e+02] [ 8.45483670e-01 5.33991766e-01 -3.18701879e-03 6.20853705e+01] [ 3.76579992e-03 5.75637538e-06 9.99992909e-01 4.76987780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.470888479 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:111.94, Y:62.11, Z:0.48 [[ 5.35731429e-01 -8.44386058e-01 -2.00525508e-03 1.11935965e+02] [ 8.44380042e-01 5.35735182e-01 -3.18751210e-03 6.21092468e+01] [ 3.76577647e-03 1.44530413e-05 9.99992909e-01 4.75755158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50088847899997 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:111.95, Y:62.13, Z:0.48 [[ 5.37058087e-01 -8.43542882e-01 -2.00447260e-03 1.11949112e+02] [ 8.43536858e-01 5.37061827e-01 -3.18800409e-03 6.21342051e+01] [ 3.76574387e-03 2.12968583e-05 9.99992909e-01 4.75817665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53088847899997 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:111.97, Y:62.16, Z:0.48 [[ 5.41353041e-01 -8.40793001e-01 -2.00360005e-03 1.11968104e+02] [ 8.40786956e-01 5.41356747e-01 -3.18855237e-03 6.21613354e+01] [ 3.76557493e-03 4.15317344e-05 9.99992909e-01 4.76573722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56088847899997 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:111.98, Y:62.18, Z:0.48 [[ 5.42773558e-01 -8.39876602e-01 -2.03906733e-03 1.11983897e+02] [ 8.39870634e-01 5.42777388e-01 -3.16624256e-03 6.21847005e+01] [ 3.76601269e-03 5.99997070e-06 9.99992909e-01 4.76085741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59088847899997 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:112.00, Y:62.21, Z:0.48 [[ 5.42430241e-01 -8.40098355e-01 -2.04635170e-03 1.11998437e+02] [ 8.40092406e-01 5.42434101e-01 -3.16165894e-03 6.22081990e+01] [ 3.76611542e-03 -4.14509962e-06 9.99992908e-01 4.76192836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62088847899997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:112.01, Y:62.23, Z:0.48 [[ 5.40255814e-01 -8.41498349e-01 -2.04567292e-03 1.12006549e+02] [ 8.41492408e-01 5.40259687e-01 -3.16208576e-03 6.22296496e+01] [ 3.76608456e-03 -1.30830171e-05 9.99992908e-01 4.77488084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65088847899997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:112.02, Y:62.25, Z:0.48 [[ 5.40720988e-01 -8.41199621e-01 -2.00256076e-03 1.12021017e+02] [ 8.41193577e-01 5.40724695e-01 -3.18915710e-03 6.22532066e+01] [ 3.76555180e-03 3.99029340e-05 9.99992909e-01 4.80681147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68088847899998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:112.04, Y:62.28, Z:0.48 [[ 5.43718641e-01 -8.39265175e-01 -2.00166903e-03 1.12042802e+02] [ 8.39259115e-01 5.43722322e-01 -3.18971669e-03 6.22790305e+01] [ 3.76537027e-03 5.43894415e-05 9.99992909e-01 4.80215605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71088847899998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:112.05, Y:62.30, Z:0.48 [[ 5.40812780e-01 -8.41140490e-01 -2.05283317e-03 1.12049451e+02] [ 8.41134563e-01 5.40816675e-01 -3.15757907e-03 6.23008925e+01] [ 3.76617402e-03 -1.90498176e-05 9.99992908e-01 4.80628628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74088847899998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:112.06, Y:62.33, Z:0.48 [[ 5.40526506e-01 -8.41324607e-01 -2.00042547e-03 1.12064251e+02] [ 8.41318559e-01 5.40530206e-01 -3.19043904e-03 6.23251263e+01] [ 3.76548526e-03 4.15217873e-05 9.99992910e-01 4.80915272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77088847899998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:112.08, Y:62.35, Z:0.48 [[ 5.40013650e-01 -8.41653884e-01 -1.99952087e-03 1.12080205e+02] [ 8.41647836e-01 5.40017350e-01 -3.19100587e-03 6.23487043e+01] [ 3.76549845e-03 4.02943124e-05 9.99992910e-01 4.84279364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80088847899998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:112.09, Y:62.37, Z:0.48 [[ 5.40663964e-01 -8.41236275e-01 -2.00181637e-03 1.12094134e+02] [ 8.41230230e-01 5.40667668e-01 -3.18956805e-03 6.23715259e+01] [ 3.76549774e-03 4.04960608e-05 9.99992910e-01 4.80189179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83088847899998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:112.11, Y:62.40, Z:0.48 [[ 5.40037724e-01 -8.41638440e-01 -1.99818019e-03 1.12109473e+02] [ 8.41632389e-01 5.40041419e-01 -3.19184440e-03 6.23954045e+01] [ 3.76547901e-03 4.19832189e-05 9.99992910e-01 4.82481927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86088847899998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:112.13, Y:62.42, Z:0.48 [[ 5.40981697e-01 -8.41032002e-01 -1.99383634e-03 1.12125709e+02] [ 8.41025936e-01 5.40985369e-01 -3.19456299e-03 6.24190291e+01] [ 3.76536599e-03 5.13320328e-05 9.99992910e-01 4.82940653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89088847899998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:112.14, Y:62.44, Z:0.48 [[ 5.42476066e-01 -8.40068885e-01 -1.99662005e-03 1.12140742e+02] [ 8.40062819e-01 5.42479738e-01 -3.19282146e-03 6.24423435e+01] [ 3.76531588e-03 5.47429586e-05 9.99992910e-01 4.78955732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92088847899998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:112.16, Y:62.47, Z:0.48 [[ 5.42686472e-01 -8.39932977e-01 -1.99686543e-03 1.12156618e+02] [ 8.39926911e-01 5.42690143e-01 -3.19266799e-03 6.24660920e+01] [ 3.76530631e-03 5.53967188e-05 9.99992910e-01 4.79743108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95088847899999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:112.17, Y:62.49, Z:0.48 [[ 5.42934957e-01 -8.39772379e-01 -1.99604696e-03 1.12173101e+02] [ 8.39766310e-01 5.42938623e-01 -3.19317961e-03 6.24899639e+01] [ 3.76527502e-03 5.74758395e-05 9.99992910e-01 4.81636696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980888479 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:112.19, Y:62.51, Z:0.48 [[ 5.42653921e-01 -8.39954011e-01 -1.99525838e-03 1.12190420e+02] [ 8.39947942e-01 5.42657586e-01 -3.19367228e-03 6.25112603e+01] [ 3.76527994e-03 5.71456151e-05 9.99992910e-01 4.83321279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010888479 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:112.21, Y:62.53, Z:0.48 [[ 5.41888202e-01 -8.40448213e-01 -1.99443984e-03 1.12206358e+02] [ 8.40442145e-01 5.41891870e-01 -3.19418337e-03 6.25334031e+01] [ 3.76531644e-03 5.46789873e-05 9.99992910e-01 4.83458378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040888479 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:112.22, Y:62.56, Z:0.49 [[ 5.41041782e-01 -8.40993350e-01 -1.99364943e-03 1.12223107e+02] [ 8.40987284e-01 5.41045453e-01 -3.19467663e-03 6.25565780e+01] [ 3.76535676e-03 5.18197228e-05 9.99992910e-01 4.85154943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.070888479 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:112.23, Y:62.57, Z:0.48 [[ 5.31372478e-01 -8.47135951e-01 -1.99276698e-03 1.12226388e+02] [ 8.47129925e-01 5.31376214e-01 -3.19522699e-03 6.25735409e+01] [ 3.76570063e-03 9.72313894e-06 9.99992910e-01 4.77675556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.100888479 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:112.27, Y:62.60, Z:0.49 [[ 5.41549039e-01 -8.40667052e-01 -1.88330908e-03 1.12266264e+02] [ 8.40660738e-01 5.41552283e-01 -3.26326330e-03 6.26032036e+01] [ 3.76322827e-03 1.83993102e-04 9.99992902e-01 4.87853347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.130888479 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:112.27, Y:62.62, Z:0.49 [[ 5.37302554e-01 -8.43387065e-01 -2.05538150e-03 1.12273463e+02] [ 8.43381161e-01 5.37306484e-01 -3.15582758e-03 6.26232384e+01] [ 3.76595396e-03 -3.78358171e-05 9.99992908e-01 4.88121070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.160888479 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:112.29, Y:62.64, Z:0.49 [[ 5.34870812e-01 -8.44931506e-01 -1.99132370e-03 1.12292331e+02] [ 8.44925463e-01 5.34874518e-01 -3.19574313e-03 6.26443181e+01] [ 3.76529236e-03 2.67896236e-05 9.99992911e-01 4.90446105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.190888479 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:112.31, Y:62.67, Z:0.49 [[ 5.33852948e-01 -8.45574993e-01 -1.99042148e-03 1.12309052e+02] [ 8.45568952e-01 5.33856658e-01 -3.19630496e-03 6.26660472e+01] [ 3.76531530e-03 2.33182194e-05 9.99992911e-01 4.89242802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.220888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:112.33, Y:62.69, Z:0.49 [[ 5.32914107e-01 -8.46167002e-01 -1.98980867e-03 1.12325897e+02] [ 8.46160964e-01 5.32917822e-01 -3.19668641e-03 6.26891585e+01] [ 3.76533506e-03 1.98608692e-05 9.99992911e-01 4.91207960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25088847899997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:112.34, Y:62.71, Z:0.49 [[ 5.32536234e-01 -8.46404870e-01 -1.98894775e-03 1.12341403e+02] [ 8.46398832e-01 5.32539947e-01 -3.19722198e-03 6.27114638e+01] [ 3.76533838e-03 1.91934979e-05 9.99992911e-01 4.90489358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28088847899997 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:112.36, Y:62.73, Z:0.49 [[ 5.32343509e-01 -8.46526099e-01 -1.98824149e-03 1.12358230e+02] [ 8.46520059e-01 5.32347221e-01 -3.19766111e-03 6.27345367e+01] [ 3.76533842e-03 1.91678302e-05 9.99992911e-01 4.91228342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31088847899997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:112.37, Y:62.76, Z:0.49 [[ 5.32784383e-01 -8.46248694e-01 -1.98747041e-03 1.12374307e+02] [ 8.46242651e-01 5.32788089e-01 -3.19814030e-03 6.27580689e+01] [ 3.76532261e-03 2.20369813e-05 9.99992911e-01 4.91020538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34088847899997 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:112.39, Y:62.78, Z:0.49 [[ 5.32508803e-01 -8.46422134e-01 -1.98661098e-03 1.12391404e+02] [ 8.46416090e-01 5.32512508e-01 -3.19867407e-03 6.27824079e+01] [ 3.76532373e-03 2.18226081e-05 9.99992911e-01 4.92842814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37088847899997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:112.41, Y:62.80, Z:0.49 [[ 5.34016228e-01 -8.45471861e-01 -2.00012660e-03 1.12405357e+02] [ 8.45465842e-01 5.34019974e-01 -3.19028041e-03 6.28042572e+01] [ 3.76539987e-03 1.26227880e-05 9.99992911e-01 4.91261406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40088847899997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:112.42, Y:62.83, Z:0.49 [[ 5.34043172e-01 -8.45454877e-01 -1.98536617e-03 1.12423056e+02] [ 8.45448824e-01 5.34046861e-01 -3.19943978e-03 6.28276652e+01] [ 3.76526054e-03 3.01134709e-05 9.99992911e-01 4.93853097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43088847899998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.44, Y:62.85, Z:0.49 [[ 5.35550811e-01 -8.44500673e-01 -1.98545424e-03 1.12438995e+02] [ 8.44494613e-01 5.35554490e-01 -3.19938516e-03 6.28496946e+01] [ 3.76520185e-03 3.67279090e-05 9.99992911e-01 4.90062935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46088847899998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:112.45, Y:62.87, Z:0.49 [[ 5.35437847e-01 -8.44572304e-01 -1.98370442e-03 1.12454993e+02] [ 8.44566241e-01 5.35441521e-01 -3.20046972e-03 6.28734013e+01] [ 3.76518580e-03 3.82828360e-05 9.99992911e-01 4.90057177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49088847899998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:112.47, Y:62.90, Z:0.49 [[ 5.34800721e-01 -8.44975892e-01 -1.98290519e-03 1.12472354e+02] [ 8.44969829e-01 5.34804395e-01 -3.20096482e-03 6.28968876e+01] [ 3.76520452e-03 3.63832301e-05 9.99992911e-01 4.92399360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.49, Y:62.92, Z:0.49 [[ 5.34061514e-01 -8.45443298e-01 -1.98212075e-03 1.12487949e+02] [ 8.45437238e-01 5.34065191e-01 -3.20145049e-03 6.29192657e+01] [ 3.76522656e-03 3.40128019e-05 9.99992911e-01 4.89753019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:112.50, Y:62.94, Z:0.49 [[ 5.33698044e-01 -8.45672793e-01 -1.98132145e-03 1.12503937e+02] [ 8.45666732e-01 5.33701721e-01 -3.20194509e-03 6.29421510e+01] [ 3.76523251e-03 3.33341928e-05 9.99992911e-01 4.94973491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.52, Y:62.96, Z:0.50 [[ 5.32977246e-01 -8.46127256e-01 -1.98039501e-03 1.12521315e+02] [ 8.46121196e-01 5.32980924e-01 -3.20251799e-03 6.29635889e+01] [ 3.76525052e-03 3.12150248e-05 9.99992911e-01 4.95135894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:62.99, Z:0.50 [[ 5.32328356e-01 -8.46535646e-01 -1.98005123e-03 1.12537027e+02] [ 8.46529588e-01 5.32332038e-01 -3.20273053e-03 6.29858953e+01] [ 3.76527026e-03 2.87323251e-05 9.99992911e-01 4.95317200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:63.01, Z:0.50 [[ 5.31905214e-01 -8.46801586e-01 -1.97923520e-03 1.12552690e+02] [ 8.46795528e-01 5.31908895e-01 -3.20323474e-03 6.30086603e+01] [ 3.76527707e-03 2.78097488e-05 9.99992911e-01 4.95640098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:63.03, Z:0.49 [[ 5.31653232e-01 -8.46959814e-01 -1.97841683e-03 1.12567831e+02] [ 8.46953755e-01 5.31656912e-01 -3.20374011e-03 6.30308404e+01] [ 3.76527811e-03 2.76512221e-05 9.99992911e-01 4.94697771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:63.05, Z:0.49 [[ 5.28243468e-01 -8.49090647e-01 -1.97760589e-03 1.12579061e+02] [ 8.49084601e-01 5.28247170e-01 -3.20424061e-03 6.30544716e+01] [ 3.76535545e-03 1.34644664e-05 9.99992911e-01 4.89031167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:63.08, Z:0.50 [[ 5.30700834e-01 -8.47556960e-01 -1.95578387e-03 1.12598400e+02] [ 8.47550853e-01 5.30704435e-01 -3.21769648e-03 6.30774685e+01] [ 3.76512422e-03 5.00079198e-05 9.99992911e-01 4.95488940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:63.10, Z:0.49 [[ 5.28201132e-01 -8.49116987e-01 -1.97627877e-03 1.12616299e+02] [ 8.49110939e-01 5.28204829e-01 -3.20505907e-03 6.30998282e+01] [ 3.76535009e-03 1.48359072e-05 9.99992911e-01 4.94953592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:63.12, Z:0.49 [[ 5.25931867e-01 -8.50524408e-01 -1.97537735e-03 1.12633865e+02] [ 8.50518367e-01 5.25935577e-01 -3.20561455e-03 6.31240390e+01] [ 3.76537464e-03 5.84012677e-06 9.99992911e-01 4.94592573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:63.15, Z:0.50 [[ 5.24535810e-01 -8.51386066e-01 -1.98747450e-03 1.12649424e+02] [ 8.51380060e-01 5.24539575e-01 -3.19816057e-03 6.31457896e+01] [ 3.76537838e-03 -1.45464147e-05 9.99992911e-01 4.95032337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:63.17, Z:0.49 [[ 5.22659652e-01 -8.52539144e-01 -1.97416830e-03 1.12665551e+02] [ 8.52533114e-01 5.22663380e-01 -3.20635327e-03 6.31689011e+01] [ 3.76536715e-03 -7.21236871e-06 9.99992911e-01 4.94417153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:63.19, Z:0.49 [[ 5.17215648e-01 -8.55852838e-01 -1.97327579e-03 1.12678423e+02] [ 8.55846830e-01 5.17219411e-01 -3.20690245e-03 6.31911470e+01] [ 3.76525310e-03 -3.01616962e-05 9.99992911e-01 4.88586876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.910888479 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:112.70, Y:63.22, Z:0.49 [[ 5.18549265e-01 -8.55045513e-01 -1.95721452e-03 1.12697537e+02] [ 8.55039462e-01 5.18552959e-01 -3.21677210e-03 6.32150957e+01] [ 3.76540593e-03 -5.44083717e-06 9.99992911e-01 4.87652341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:63.24, Z:0.49 [[ 5.17697747e-01 -8.55561298e-01 -1.97681023e-03 1.12713215e+02] [ 8.55555297e-01 5.17701520e-01 -3.20473072e-03 6.32381180e+01] [ 3.76524123e-03 -3.21885872e-05 9.99992911e-01 4.94725558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:63.26, Z:0.49 [[ 5.17075647e-01 -8.55937436e-01 -1.97013661e-03 1.12730433e+02] [ 8.55931422e-01 5.17079399e-01 -3.20882814e-03 6.32599132e+01] [ 3.76527319e-03 -2.70949463e-05 9.99992911e-01 4.94944762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:63.28, Z:0.50 [[ 5.17043150e-01 -8.55957068e-01 -1.96971603e-03 1.12746332e+02] [ 8.55951052e-01 5.17046901e-01 -3.20908629e-03 6.32836998e+01] [ 3.76527566e-03 -2.67444251e-05 9.99992911e-01 4.95311538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:63.31, Z:0.50 [[ 5.17443863e-01 -8.55714889e-01 -1.96883293e-03 1.12762424e+02] [ 8.55708870e-01 5.17447608e-01 -3.20962800e-03 6.33072238e+01] [ 3.76529436e-03 -2.39454917e-05 9.99992911e-01 4.95353837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:63.33, Z:0.49 [[ 5.20314678e-01 -8.53972343e-01 -1.96792802e-03 1.12777830e+02] [ 8.53966310e-01 5.20318400e-01 -3.21018273e-03 6.33284712e+01] [ 3.76535643e-03 -1.02390297e-05 9.99992911e-01 4.89702806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:112.79, Y:63.35, Z:0.49 [[ 5.20937953e-01 -8.53592298e-01 -1.95894969e-03 1.12793741e+02] [ 8.53586241e-01 5.20941636e-01 -3.21568218e-03 6.33534065e+01] [ 3.76537999e-03 3.03839041e-06 9.99992911e-01 4.90613766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:63.38, Z:0.49 [[ 5.21918611e-01 -8.52993023e-01 -1.96639784e-03 1.12808688e+02] [ 8.52986979e-01 5.21922315e-01 -3.21112161e-03 6.33761102e+01] [ 3.76537124e-03 -1.36762370e-06 9.99992911e-01 4.93551957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:63.40, Z:0.49 [[ 5.23057999e-01 -8.52294824e-01 -1.96519803e-03 1.12824067e+02] [ 8.52288772e-01 5.23061691e-01 -3.21185572e-03 6.33999169e+01] [ 3.76536781e-03 5.07060579e-06 9.99992911e-01 4.94640196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:63.42, Z:0.49 [[ 5.21689062e-01 -8.53133438e-01 -1.96434484e-03 1.12833491e+02] [ 8.53127391e-01 5.21692760e-01 -3.21237744e-03 6.34231706e+01] [ 3.76537109e-03 2.57913939e-08 9.99992911e-01 4.86475173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:63.45, Z:0.49 [[ 5.22400161e-01 -8.52698280e-01 -1.92731294e-03 1.12847758e+02] [ 8.52692145e-01 5.22403714e-01 -3.23499091e-03 6.34462315e+01] [ 3.76530662e-03 4.65551703e-05 9.99992910e-01 4.85741583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:63.47, Z:0.49 [[ 5.24900082e-01 -8.51161691e-01 -1.91824980e-03 1.12864755e+02] [ 8.51155525e-01 5.24903582e-01 -3.24051729e-03 6.34691056e+01] [ 3.76510037e-03 6.82188774e-05 9.99992910e-01 4.86699354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:63.49, Z:0.49 [[ 5.25377199e-01 -8.50867256e-01 -1.92663371e-03 1.12880920e+02] [ 8.50861107e-01 5.25380728e-01 -3.23538886e-03 6.34917393e+01] [ 3.76510266e-03 6.05018462e-05 9.99992910e-01 4.88616823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:63.52, Z:0.49 [[ 5.30015135e-01 -8.47985990e-01 -1.92808813e-03 1.12902984e+02] [ 8.47979825e-01 5.30018636e-01 -3.23449928e-03 6.35160698e+01] [ 3.76473272e-03 7.93537326e-05 9.99992910e-01 4.94720111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:63.54, Z:0.50 [[ 5.29796372e-01 -8.48122599e-01 -1.96520785e-03 1.12917853e+02] [ 8.48116518e-01 5.29800016e-01 -3.21178671e-03 6.35383007e+01] [ 3.76515604e-03 3.48677082e-05 9.99992911e-01 4.95120307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36088847899998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:112.93, Y:63.56, Z:0.50 [[ 5.29714266e-01 -8.48173884e-01 -1.96442459e-03 1.12933068e+02] [ 8.48167802e-01 5.29717908e-01 -3.21226570e-03 6.35609174e+01] [ 3.76515076e-03 3.54212796e-05 9.99992911e-01 4.95336529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:63.58, Z:0.50 [[ 5.29137824e-01 -8.48533621e-01 -1.96401154e-03 1.12949384e+02] [ 8.48527540e-01 5.29141468e-01 -3.21251816e-03 6.35845821e+01] [ 3.76516962e-03 3.33469924e-05 9.99992911e-01 4.95694572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:63.61, Z:0.49 [[ 5.25035829e-01 -8.51077861e-01 -1.96288874e-03 1.12959692e+02] [ 8.51071796e-01 5.25039498e-01 -3.21320406e-03 6.36071561e+01] [ 3.76528096e-03 1.64880113e-05 9.99992911e-01 4.90325533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:63.63, Z:0.50 [[ 5.27992622e-01 -8.49246762e-01 -1.93083750e-03 1.12980439e+02] [ 8.49240612e-01 5.27996149e-01 -3.23276694e-03 6.36308763e+01] [ 3.76489162e-03 6.71314758e-05 9.99992911e-01 4.95843436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:63.66, Z:0.50 [[ 5.27756390e-01 -8.49393515e-01 -1.96218873e-03 1.12995295e+02] [ 8.49387436e-01 5.27760036e-01 -3.21362437e-03 6.36553224e+01] [ 3.76519649e-03 2.93523439e-05 9.99992911e-01 4.95967463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:63.68, Z:0.50 [[ 5.26036051e-01 -8.50460009e-01 -1.96129472e-03 1.13011124e+02] [ 8.50453936e-01 5.26039706e-01 -3.21416990e-03 6.36771295e+01] [ 3.76524186e-03 2.27784220e-05 9.99992911e-01 4.96587430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:63.70, Z:0.50 [[ 5.25066477e-01 -8.51058958e-01 -1.96049806e-03 1.13026103e+02] [ 8.51052887e-01 5.25070137e-01 -3.21465575e-03 6.36992260e+01] [ 3.76526056e-03 1.94204414e-05 9.99992911e-01 4.96723787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:63.72, Z:0.50 [[ 5.24033838e-01 -8.51695189e-01 -1.95970055e-03 1.13041157e+02] [ 8.51689121e-01 5.24037503e-01 -3.21514185e-03 6.37212089e+01] [ 3.76527743e-03 1.57874814e-05 9.99992911e-01 4.96815702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:63.74, Z:0.50 [[ 5.22653664e-01 -8.52542850e-01 -1.95891319e-03 1.13058272e+02] [ 8.52536785e-01 5.22657335e-01 -3.21562150e-03 6.37435677e+01] [ 3.76529546e-03 1.06108010e-05 9.99992911e-01 4.97813473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:63.77, Z:0.50 [[ 5.22337385e-01 -8.52736667e-01 -1.95801647e-03 1.13073106e+02] [ 8.52730602e-01 5.22341054e-01 -3.21616743e-03 6.37658123e+01] [ 3.76529628e-03 1.02639198e-05 9.99992911e-01 4.97683717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:63.79, Z:0.50 [[ 5.21984371e-01 -8.52952804e-01 -1.95720357e-03 1.13088195e+02] [ 8.52946738e-01 5.21988041e-01 -3.21666204e-03 6.37893755e+01] [ 3.76529776e-03 9.65690933e-06 9.99992911e-01 4.97873332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:63.81, Z:0.50 [[ 5.21799893e-01 -8.53065674e-01 -1.95631174e-03 1.13104148e+02] [ 8.53059608e-01 5.21803560e-01 -3.21720434e-03 6.38127413e+01] [ 3.76529702e-03 9.88635119e-06 9.99992911e-01 4.97166176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:63.84, Z:0.50 [[ 5.20938883e-01 -8.53591739e-01 -1.95541458e-03 1.13119408e+02] [ 8.53585674e-01 5.20942553e-01 -3.21774955e-03 6.38374568e+01] [ 3.76530309e-03 7.13698331e-06 9.99992911e-01 4.97953612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:63.86, Z:0.50 [[ 5.21282207e-01 -8.53382110e-01 -1.95856594e-03 1.13133927e+02] [ 8.53376051e-01 5.21285886e-01 -3.21583525e-03 6.38601020e+01] [ 3.76530905e-03 4.96442670e-06 9.99992911e-01 4.96100380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:63.88, Z:0.49 [[ 5.16356547e-01 -8.56371472e-01 -1.95414066e-03 1.13142458e+02] [ 8.56365424e-01 5.16360245e-01 -3.21852208e-03 6.38824488e+01] [ 3.76529104e-03 -1.15535446e-05 9.99992911e-01 4.90741452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81088847899997 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:113.16, Y:63.91, Z:0.49 [[ 5.16555285e-01 -8.56251711e-01 -1.90890667e-03 1.13159021e+02] [ 8.56245560e-01 5.16558811e-01 -3.24594927e-03 6.39063436e+01] [ 3.76541218e-03 4.22193954e-05 9.99992910e-01 4.90277779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:63.93, Z:0.49 [[ 5.16201392e-01 -8.56465093e-01 -1.91489319e-03 1.13175248e+02] [ 8.56458956e-01 5.16204943e-01 -3.24231758e-03 6.39299219e+01] [ 3.76540916e-03 3.36614323e-05 9.99992910e-01 4.92621690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:63.95, Z:0.50 [[ 5.16330675e-01 -8.56387148e-01 -1.92008899e-03 1.13192167e+02] [ 8.56381023e-01 5.16334244e-01 -3.23916430e-03 6.39538732e+01] [ 3.76538637e-03 2.81521163e-05 9.99992911e-01 4.95166573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:63.98, Z:0.50 [[ 5.16425668e-01 -8.56329854e-01 -1.92615015e-03 1.13206928e+02] [ 8.56323742e-01 5.16429260e-01 -3.23548618e-03 6.39771915e+01] [ 3.76536370e-03 2.14800105e-05 9.99992911e-01 4.96234185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:64.00, Z:0.50 [[ 5.18236446e-01 -8.55235201e-01 -1.93318768e-03 1.13224527e+02] [ 8.55229097e-01 5.18240051e-01 -3.23121702e-03 6.40016456e+01] [ 3.76530582e-03 2.12160765e-05 9.99992911e-01 4.99385718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:64.02, Z:0.50 [[ 5.17798505e-01 -8.55500376e-01 -1.95316290e-03 1.13238252e+02] [ 8.55494319e-01 5.17802189e-01 -3.21909721e-03 6.40246773e+01] [ 3.76529090e-03 -4.07604690e-06 9.99992911e-01 5.00699917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:64.05, Z:0.50 [[ 5.17528611e-01 -8.55663675e-01 -1.95235561e-03 1.13252849e+02] [ 8.55657618e-01 5.17532294e-01 -3.21958675e-03 6.40488656e+01] [ 3.76529051e-03 -4.31969517e-06 9.99992911e-01 5.00527844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:64.07, Z:0.50 [[ 5.17593773e-01 -8.55624262e-01 -1.95143219e-03 1.13266690e+02] [ 8.55618203e-01 5.17597451e-01 -3.22014635e-03 6.40717118e+01] [ 3.76529167e-03 -2.95320476e-06 9.99992911e-01 5.00483963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:64.10, Z:0.50 [[ 5.18347596e-01 -8.55167799e-01 -1.95072851e-03 1.13280444e+02] [ 8.55161735e-01 5.18351267e-01 -3.22057250e-03 6.40952316e+01] [ 3.76529249e-03 1.18764171e-06 9.99992911e-01 4.99926793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:64.12, Z:0.50 [[ 5.16903655e-01 -8.56041385e-01 -1.93874233e-03 1.13295804e+02] [ 8.56035300e-01 5.16907290e-01 -3.22782566e-03 6.41215337e+01] [ 3.76530239e-03 8.84301277e-06 9.99992911e-01 4.99808858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:64.15, Z:0.50 [[ 5.17822612e-01 -8.55485764e-01 -1.96231758e-03 1.13308092e+02] [ 8.55479728e-01 5.17826330e-01 -3.21355905e-03 6.41451690e+01] [ 3.76529372e-03 -1.46693703e-05 9.99992911e-01 4.97173522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:64.17, Z:0.50 [[ 5.17511803e-01 -8.55673850e-01 -1.94838927e-03 1.13321473e+02] [ 8.55667784e-01 5.17515471e-01 -3.22198174e-03 6.41688497e+01] [ 3.76528711e-03 2.39654464e-07 9.99992911e-01 4.96488594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:64.19, Z:0.50 [[ 5.17054686e-01 -8.55950150e-01 -1.94757718e-03 1.13335538e+02] [ 8.55944084e-01 5.17058354e-01 -3.22247255e-03 6.41931680e+01] [ 3.76528691e-03 -8.22635173e-07 9.99992911e-01 4.97791969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:64.22, Z:0.50 [[ 5.15993163e-01 -8.56590489e-01 -1.94667615e-03 1.13349192e+02] [ 8.56584426e-01 5.15996835e-01 -3.22301676e-03 6.42174553e+01] [ 3.76528424e-03 -4.43785948e-06 9.99992911e-01 4.99110336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:64.24, Z:0.50 [[ 5.15571453e-01 -8.56844380e-01 -1.94577452e-03 1.13363392e+02] [ 8.56838316e-01 5.15575125e-01 -3.22356099e-03 6.42421027e+01] [ 3.76528306e-03 -5.23814040e-06 9.99992911e-01 4.99343892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:64.27, Z:0.50 [[ 5.15164720e-01 -8.57088985e-01 -1.94487656e-03 1.13377063e+02] [ 8.57082921e-01 5.15168391e-01 -3.22410267e-03 6.42665256e+01] [ 3.76528182e-03 -5.97653743e-06 9.99992911e-01 4.99423756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:64.29, Z:0.50 [[ 5.14847531e-01 -8.57279558e-01 -1.94395563e-03 1.13389364e+02] [ 8.57273493e-01 5.14851201e-01 -3.22465785e-03 6.42902938e+01] [ 3.76528114e-03 -6.29450037e-06 9.99992911e-01 4.98179084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:64.31, Z:0.50 [[ 5.14901541e-01 -8.57247121e-01 -1.94313722e-03 1.13403066e+02] [ 8.57241055e-01 5.14905208e-01 -3.22515093e-03 6.43137342e+01] [ 3.76528283e-03 -5.10181020e-06 9.99992911e-01 4.97970478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:64.34, Z:0.50 [[ 5.14636964e-01 -8.57405985e-01 -1.94232797e-03 1.13417065e+02] [ 8.57399917e-01 5.14640630e-01 -3.22563822e-03 6.43378642e+01] [ 3.76528241e-03 -5.31918074e-06 9.99992911e-01 4.98332408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:64.36, Z:0.50 [[ 5.14385690e-01 -8.57556758e-01 -1.94143890e-03 1.13431202e+02] [ 8.57550689e-01 5.14389354e-01 -3.22617325e-03 6.43626126e+01] [ 3.76528217e-03 -5.38490989e-06 9.99992911e-01 4.99200603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:64.39, Z:0.50 [[ 5.14408007e-01 -8.57543373e-01 -1.94054378e-03 1.13445292e+02] [ 8.57537302e-01 5.14411667e-01 -3.22671157e-03 6.43865520e+01] [ 3.76528349e-03 -4.24241040e-06 9.99992911e-01 4.99984597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:64.41, Z:0.50 [[ 5.14314175e-01 -8.57599654e-01 -1.93964874e-03 1.13459520e+02] [ 8.57593582e-01 5.14317832e-01 -3.22724951e-03 6.44108226e+01] [ 3.76528400e-03 -3.61013532e-06 9.99992911e-01 5.01199165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:64.44, Z:0.50 [[ 5.14859089e-01 -8.57272629e-01 -1.93875708e-03 1.13473168e+02] [ 8.57266552e-01 5.14862739e-01 -3.22778508e-03 6.44355877e+01] [ 3.76528558e-03 -1.77112602e-07 9.99992911e-01 5.03006692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:64.46, Z:0.50 [[ 5.15537898e-01 -8.56864587e-01 -1.93786249e-03 1.13486553e+02] [ 8.56858506e-01 5.15541540e-01 -3.22832208e-03 6.44600497e+01] [ 3.76528348e-03 3.84842334e-06 9.99992911e-01 5.03106810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:64.48, Z:0.50 [[ 5.15970427e-01 -8.56604207e-01 -1.93695814e-03 1.13499519e+02] [ 8.56598121e-01 5.15974063e-01 -3.22886459e-03 6.44837195e+01] [ 3.76527915e-03 6.80393790e-06 9.99992911e-01 5.04283065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:64.51, Z:0.50 [[ 5.17749827e-01 -8.55529879e-01 -1.93478992e-03 1.13513502e+02] [ 8.55523781e-01 5.17753441e-01 -3.23016451e-03 6.45092477e+01] [ 3.76524639e-03 1.71583298e-05 9.99992911e-01 5.03187851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:64.53, Z:0.50 [[ 5.18480477e-01 -8.55087275e-01 -1.93575293e-03 1.13527941e+02] [ 8.55081176e-01 5.18484090e-01 -3.22958730e-03 6.45335246e+01] [ 3.76523610e-03 1.92520650e-05 9.99992911e-01 5.03079147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:64.56, Z:0.50 [[ 5.18909087e-01 -8.54827244e-01 -1.93483169e-03 1.13541754e+02] [ 8.54821141e-01 5.18912693e-01 -3.23013912e-03 6.45567137e+01] [ 3.76521964e-03 2.22135050e-05 9.99992911e-01 5.02978005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:64.58, Z:0.50 [[ 5.18800943e-01 -8.54892883e-01 -1.93401315e-03 1.13556687e+02] [ 8.54886779e-01 5.18804547e-01 -3.23062913e-03 6.45810298e+01] [ 3.76521667e-03 2.26911673e-05 9.99992911e-01 5.02967060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:64.60, Z:0.50 [[ 5.18325391e-01 -8.55181298e-01 -1.93310109e-03 1.13570898e+02] [ 8.55175194e-01 5.18328995e-01 -3.23117479e-03 6.46041489e+01] [ 3.76522260e-03 2.16598328e-05 9.99992911e-01 5.03210998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:64.63, Z:0.50 [[ 5.17373346e-01 -8.55757610e-01 -1.93247858e-03 1.13585277e+02] [ 8.55751508e-01 5.17376954e-01 -3.23154705e-03 6.46283136e+01] [ 3.76524086e-03 1.81948539e-05 9.99992911e-01 5.03582152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:64.65, Z:0.50 [[ 5.16000969e-01 -8.56585821e-01 -1.93157523e-03 1.13599542e+02] [ 8.56579723e-01 5.16004584e-01 -3.23208692e-03 6.46521234e+01] [ 3.76526150e-03 1.32118058e-05 9.99992911e-01 5.03835266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:64.68, Z:0.50 [[ 5.12972653e-01 -8.58402778e-01 -1.93066865e-03 1.13613924e+02] [ 8.58396691e-01 5.12976286e-01 -3.23262837e-03 6.46751178e+01] [ 3.76528440e-03 9.70372496e-07 9.99992911e-01 5.04591025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:64.70, Z:0.51 [[ 5.11064266e-01 -8.59540337e-01 -1.93005185e-03 1.13628926e+02] [ 8.59534257e-01 5.11067910e-01 -3.23299658e-03 6.46991750e+01] [ 3.76527854e-03 -6.67666040e-06 9.99992911e-01 5.05470447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:64.72, Z:0.51 [[ 5.09227512e-01 -8.60629781e-01 -1.92914181e-03 1.13644011e+02] [ 8.60623706e-01 5.09231166e-01 -3.23353952e-03 6.47224337e+01] [ 3.76525954e-03 -1.36578829e-05 9.99992911e-01 5.06467025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:64.75, Z:0.51 [[ 5.05559226e-01 -8.62789749e-01 -1.92822915e-03 1.13658995e+02] [ 8.62783688e-01 5.05562902e-01 -3.23408367e-03 6.47465371e+01] [ 3.76517536e-03 -2.86238254e-05 9.99992911e-01 5.08119172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:64.77, Z:0.51 [[ 5.03748495e-01 -8.63848216e-01 -1.92730742e-03 1.13672659e+02] [ 8.63842160e-01 5.03752180e-01 -3.23463287e-03 6.47698601e+01] [ 3.76511714e-03 -3.54479679e-05 9.99992911e-01 5.08565503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:64.79, Z:0.51 [[ 5.02234085e-01 -8.64729560e-01 -1.92648057e-03 1.13686838e+02] [ 8.64723510e-01 5.02237778e-01 -3.23512525e-03 6.47940567e+01] [ 3.76505975e-03 -4.10828679e-05 9.99992911e-01 5.08947156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:64.82, Z:0.51 [[ 4.99889978e-01 -8.66086775e-01 -1.92556724e-03 1.13700301e+02] [ 8.66080732e-01 4.99893684e-01 -3.23566877e-03 6.48180011e+01] [ 3.76494884e-03 -5.02182925e-05 9.99992911e-01 5.09616045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.71, Y:64.84, Z:0.51 [[ 4.98601307e-01 -8.66829298e-01 -1.92474553e-03 1.13713834e+02] [ 8.66823259e-01 4.98605019e-01 -3.23615749e-03 6.48419303e+01] [ 3.76488391e-03 -5.48618418e-05 9.99992911e-01 5.09192468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:64.87, Z:0.51 [[ 4.97817437e-01 -8.67279711e-01 -1.92393323e-03 1.13727379e+02] [ 8.67273674e-01 4.97821152e-01 -3.23664035e-03 6.48653480e+01] [ 3.76484716e-03 -5.73206313e-05 9.99992911e-01 5.09264229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:64.89, Z:0.51 [[ 4.96778929e-01 -8.67874989e-01 -1.92313126e-03 1.13740841e+02] [ 8.67868954e-01 4.96782648e-01 -3.23711679e-03 6.48900471e+01] [ 3.76479094e-03 -6.08945001e-05 9.99992911e-01 5.09067288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:64.91, Z:0.51 [[ 4.96640390e-01 -8.67954278e-01 -1.92223495e-03 1.13754490e+02] [ 8.67948241e-01 4.96644106e-01 -3.23764894e-03 6.49149109e+01] [ 3.76479790e-03 -6.04532094e-05 9.99992911e-01 5.08685454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:64.94, Z:0.51 [[ 4.96428684e-01 -8.68075383e-01 -1.92133209e-03 1.13768033e+02] [ 8.68069345e-01 4.96432398e-01 -3.23818464e-03 6.49397787e+01] [ 3.76479987e-03 -6.03217457e-05 9.99992911e-01 5.08002497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:64.97, Z:0.51 [[ 4.97022865e-01 -8.67735319e-01 -1.92043267e-03 1.13780935e+02] [ 8.67729277e-01 4.97026572e-01 -3.23871796e-03 6.49651170e+01] [ 3.76485603e-03 -5.66987711e-05 9.99992911e-01 5.07846189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:64.99, Z:0.51 [[ 4.97346560e-01 -8.67549834e-01 -1.91953859e-03 1.13793910e+02] [ 8.67543789e-01 4.97350261e-01 -3.23924778e-03 6.49884867e+01] [ 3.76489189e-03 -5.42550471e-05 9.99992911e-01 5.07555811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:65.01, Z:0.51 [[ 4.97850649e-01 -8.67260658e-01 -1.91873576e-03 1.13808092e+02] [ 8.67254609e-01 4.97854344e-01 -3.23972326e-03 6.50130594e+01] [ 3.76493546e-03 -5.11341068e-05 9.99992911e-01 5.08542868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:65.04, Z:0.51 [[ 4.99167770e-01 -8.66503237e-01 -1.91782704e-03 1.13821268e+02] [ 8.66497180e-01 4.99171452e-01 -3.24026111e-03 6.50366284e+01] [ 3.76502125e-03 -4.43578110e-05 9.99992911e-01 5.09179758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:65.06, Z:0.51 [[ 5.00016733e-01 -8.66013621e-01 -1.91700588e-03 1.13834209e+02] [ 8.66007558e-01 5.00020406e-01 -3.24074685e-03 6.50603634e+01] [ 3.76507297e-03 -3.97139336e-05 9.99992911e-01 5.09655309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:65.08, Z:0.51 [[ 5.01353765e-01 -8.65240273e-01 -1.91621194e-03 1.13847301e+02] [ 8.65234203e-01 5.01357426e-01 -3.24121623e-03 6.50847714e+01] [ 3.76513790e-03 -3.29761510e-05 9.99992911e-01 5.10630831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:113.86, Y:65.11, Z:0.51 [[ 5.05582279e-01 -8.62776269e-01 -1.91529835e-03 1.13860009e+02] [ 8.62770179e-01 5.05585907e-01 -3.24175600e-03 6.51097268e+01] [ 3.76525800e-03 -1.34879158e-05 9.99992911e-01 5.10708394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:65.13, Z:0.51 [[ 5.08021939e-01 -8.61342002e-01 -1.91439027e-03 1.13873139e+02] [ 8.61335900e-01 5.08025546e-01 -3.24229216e-03 6.51332214e+01] [ 3.76528159e-03 -1.77751751e-06 9.99992911e-01 5.11426953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:65.16, Z:0.51 [[ 5.10790049e-01 -8.59703358e-01 -1.91377312e-03 1.13887014e+02] [ 8.59697242e-01 5.10793634e-01 -3.24265640e-03 6.51579255e+01] [ 3.76526572e-03 1.10511453e-05 9.99992911e-01 5.11852563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:65.18, Z:0.51 [[ 5.10551485e-01 -8.59845057e-01 -1.91287463e-03 1.13901481e+02] [ 8.59838941e-01 5.10555068e-01 -3.24318634e-03 6.51826030e+01] [ 3.76526558e-03 1.10495094e-05 9.99992911e-01 5.11959813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43088847899998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:113.91, Y:65.21, Z:0.51 [[ 5.13382675e-01 -8.58157662e-01 -1.91197458e-03 1.13914945e+02] [ 8.58151532e-01 5.13386235e-01 -3.24371687e-03 6.52073193e+01] [ 3.76520191e-03 2.45041314e-05 9.99992911e-01 5.12012355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.93, Y:65.23, Z:0.51 [[ 5.19229984e-01 -8.54632419e-01 -1.91108052e-03 1.13927592e+02] [ 8.54626263e-01 5.19233498e-01 -3.24424353e-03 6.52321929e+01] [ 3.76493272e-03 5.12489123e-05 9.99992911e-01 5.11649722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.94, Y:65.26, Z:0.51 [[ 5.21807837e-01 -8.53060919e-01 -1.91019375e-03 1.13941334e+02] [ 8.53054751e-01 5.21811330e-01 -3.24476557e-03 6.52562920e+01] [ 3.76474344e-03 6.36442532e-05 9.99992911e-01 5.11308788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:65.28, Z:0.51 [[ 5.24026724e-01 -8.51699681e-01 -1.90926645e-03 1.13954703e+02] [ 8.51693501e-01 5.24030197e-01 -3.24531111e-03 6.52803937e+01] [ 3.76454372e-03 7.45199237e-05 9.99992911e-01 5.10834962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:65.31, Z:0.51 [[ 5.27778747e-01 -8.49379745e-01 -1.90863739e-03 1.13968569e+02] [ 8.49373549e-01 5.27782190e-01 -3.24568104e-03 6.53051890e+01] [ 3.76416055e-03 9.18553602e-05 9.99992911e-01 5.09769214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:65.33, Z:0.51 [[ 5.28786250e-01 -8.48752887e-01 -1.90771680e-03 1.13982700e+02] [ 8.48746684e-01 5.28789682e-01 -3.24622204e-03 6.53291203e+01] [ 3.76402129e-03 9.73892705e-05 9.99992911e-01 5.09490188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:65.35, Z:0.51 [[ 5.29696737e-01 -8.48184963e-01 -1.90680326e-03 1.13997503e+02] [ 8.48178755e-01 5.29700159e-01 -3.24675856e-03 6.53534326e+01] [ 3.76388578e-03 1.02487404e-04 9.99992911e-01 5.09596180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:65.38, Z:0.51 [[ 5.30713491e-01 -8.47549148e-01 -1.90587769e-03 1.14011494e+02] [ 8.47542934e-01 5.30716902e-01 -3.24730179e-03 6.53768854e+01] [ 3.76372937e-03 1.08073702e-04 9.99992911e-01 5.09373567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:65.40, Z:0.51 [[ 5.30469819e-01 -8.47701682e-01 -1.90504341e-03 1.14025706e+02] [ 8.47695467e-01 5.30473229e-01 -3.24779115e-03 6.54008334e+01] [ 3.76373255e-03 1.07958518e-04 9.99992911e-01 5.09163426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:65.42, Z:0.51 [[ 5.29833154e-01 -8.48099760e-01 -1.90413265e-03 1.14040246e+02] [ 8.48093546e-01 5.29836565e-01 -3.24832502e-03 6.54245026e+01] [ 3.76378278e-03 1.06187683e-04 9.99992911e-01 5.09269133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:65.45, Z:0.51 [[ 5.28788499e-01 -8.48751495e-01 -1.90321874e-03 1.14056198e+02] [ 8.48745284e-01 5.28791914e-01 -3.24886040e-03 6.54464784e+01] [ 3.76388181e-03 1.02612088e-04 9.99992911e-01 5.09880742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:65.47, Z:0.51 [[ 5.27983534e-01 -8.49252477e-01 -1.90239981e-03 1.14071843e+02] [ 8.49246266e-01 5.27986951e-01 -3.24933986e-03 6.54703886e+01] [ 3.76395220e-03 9.99920098e-05 9.99992911e-01 5.09924871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:65.49, Z:0.51 [[ 5.27066934e-01 -8.49821647e-01 -1.90150677e-03 1.14087492e+02] [ 8.49815438e-01 5.27070355e-01 -3.24986239e-03 6.54941314e+01] [ 3.76403125e-03 9.69651954e-05 9.99992911e-01 5.09902572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:65.52, Z:0.51 [[ 5.25353264e-01 -8.50882093e-01 -1.90061846e-03 1.14103633e+02] [ 8.50875889e-01 5.25356694e-01 -3.25038181e-03 6.55172373e+01] [ 3.76419431e-03 9.04082702e-05 9.99992911e-01 5.09614133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:65.54, Z:0.51 [[ 5.24122904e-01 -8.51640519e-01 -1.89968933e-03 1.14117656e+02] [ 8.51634318e-01 5.24126340e-01 -3.25092475e-03 6.55405117e+01] [ 3.76429646e-03 8.60434971e-05 9.99992911e-01 5.08537716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:65.57, Z:0.51 [[ 5.22501256e-01 -8.52636401e-01 -1.89886084e-03 1.14132197e+02] [ 8.52630205e-01 5.22504700e-01 -3.25140860e-03 6.55651256e+01] [ 3.76443304e-03 7.98389676e-05 9.99992911e-01 5.08129073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:65.59, Z:0.51 [[ 5.20574091e-01 -8.53814391e-01 -1.89794561e-03 1.14146517e+02] [ 8.53808201e-01 5.20577545e-01 -3.25194276e-03 6.55887832e+01] [ 3.76458339e-03 7.23956139e-05 9.99992911e-01 5.07994090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:65.61, Z:0.51 [[ 5.17102556e-01 -8.55921345e-01 -1.89701372e-03 1.14162958e+02] [ 8.55915167e-01 5.17106032e-01 -3.25248628e-03 6.56103975e+01] [ 3.76482967e-03 5.81861513e-05 9.99992911e-01 5.09194544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:65.63, Z:0.51 [[ 5.15008778e-01 -8.57182806e-01 -1.89638419e-03 1.14178858e+02] [ 8.57176635e-01 5.15012267e-01 -3.25285329e-03 6.56341524e+01] [ 3.76495104e-03 4.97117780e-05 9.99992911e-01 5.10547981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00088847899997 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:114.19, Y:65.66, Z:0.51 [[ 5.13066749e-01 -8.58346619e-01 -1.89544796e-03 1.14194469e+02] [ 8.58340454e-01 5.13070248e-01 -3.25339875e-03 6.56576329e+01] [ 3.76504177e-03 4.22710519e-05 9.99992911e-01 5.11680922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:65.68, Z:0.51 [[ 5.08466489e-01 -8.61079695e-01 -1.89451123e-03 1.14210233e+02] [ 8.61073547e-01 5.08470018e-01 -3.25394413e-03 6.56795628e+01] [ 3.76520738e-03 2.32080393e-05 9.99992911e-01 5.13252322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:65.70, Z:0.51 [[ 5.06125823e-01 -8.62457573e-01 -1.89367133e-03 1.14224418e+02] [ 8.62451433e-01 5.06129366e-01 -3.25443285e-03 6.57025490e+01] [ 3.76525292e-03 1.39529482e-05 9.99992911e-01 5.13155028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09088847899997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:114.24, Y:65.73, Z:0.51 [[ 5.03721919e-01 -8.63863789e-01 -1.89285578e-03 1.14238960e+02] [ 8.63857657e-01 5.03725475e-01 -3.25490712e-03 6.57270619e+01] [ 3.76527608e-03 4.41010715e-06 9.99992911e-01 5.12342827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:65.75, Z:0.51 [[ 5.01405115e-01 -8.65210570e-01 -1.89193257e-03 1.14252547e+02] [ 8.65204446e-01 5.01408685e-01 -3.25544365e-03 6.57508604e+01] [ 3.76527568e-03 -4.61237507e-06 9.99992911e-01 5.11072706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:65.77, Z:0.51 [[ 4.98602924e-01 -8.66828442e-01 -1.89110363e-03 1.14265730e+02] [ 8.66822327e-01 4.98606510e-01 -3.25592512e-03 6.57746269e+01] [ 3.76524508e-03 -1.58370662e-05 9.99992911e-01 5.09332889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18088847899998 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:114.28, Y:65.80, Z:0.51 [[ 4.96822290e-01 -8.67850240e-01 -1.89049843e-03 1.14279973e+02] [ 8.67844131e-01 4.96825886e-01 -3.25627648e-03 6.57991002e+01] [ 3.76520888e-03 -2.28672348e-05 9.99992911e-01 5.09752315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:65.82, Z:0.51 [[ 4.95392404e-01 -8.68667252e-01 -1.88980363e-03 1.14294113e+02] [ 8.68661147e-01 4.95396008e-01 -3.25667959e-03 6.58231359e+01] [ 3.76517209e-03 -2.82646572e-05 9.99992911e-01 5.09359190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:65.85, Z:0.51 [[ 4.91221807e-01 -8.71032474e-01 -1.88861757e-03 1.14306276e+02] [ 8.71026384e-01 4.91225435e-01 -3.25736727e-03 6.58469418e+01] [ 3.76500966e-03 -4.49459003e-05 9.99992911e-01 5.09552554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:65.87, Z:0.51 [[ 4.88997308e-01 -8.72283250e-01 -1.88780720e-03 1.14319862e+02] [ 8.72277168e-01 4.89000949e-01 -3.25783686e-03 6.58720778e+01] [ 3.76489603e-03 -5.36176649e-05 9.99992911e-01 5.09745105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:65.90, Z:0.51 [[ 4.86636967e-01 -8.73602256e-01 -1.88689462e-03 1.14332976e+02] [ 8.73596182e-01 4.86640621e-01 -3.25836532e-03 6.58959444e+01] [ 3.76475487e-03 -6.27429193e-05 9.99992911e-01 5.09905587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:65.92, Z:0.51 [[ 4.81333295e-01 -8.76535625e-01 -1.88607464e-03 1.14345478e+02] [ 8.76529571e-01 4.81336982e-01 -3.25883989e-03 6.59213523e+01] [ 3.76432674e-03 -8.46120574e-05 9.99992911e-01 5.10531514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:65.95, Z:0.51 [[ 4.78838140e-01 -8.77901180e-01 -1.88515066e-03 1.14357867e+02] [ 8.77895134e-01 4.78841842e-01 -3.25937430e-03 6.59459117e+01] [ 3.76409756e-03 -9.42518638e-05 9.99992911e-01 5.10445785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:65.97, Z:0.51 [[ 4.74262543e-01 -8.80381457e-01 -1.87923229e-03 1.14369336e+02] [ 8.80375417e-01 4.74266254e-01 -3.26279466e-03 6.59722899e+01] [ 3.76376037e-03 -1.07008615e-04 9.99992911e-01 5.10669639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:66.00, Z:0.51 [[ 4.72546968e-01 -8.81303475e-01 -1.88336943e-03 1.14381482e+02] [ 8.81297453e-01 4.72550706e-01 -3.26040485e-03 6.59963324e+01] [ 3.76339368e-03 -1.19114257e-04 9.99992911e-01 5.10892322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:66.02, Z:0.51 [[ 4.71753754e-01 -8.81728332e-01 -1.88255439e-03 1.14393823e+02] [ 8.81722311e-01 4.71757494e-01 -3.26087538e-03 6.60211894e+01] [ 3.76331535e-03 -1.21560001e-04 9.99992911e-01 5.11961988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:66.05, Z:0.51 [[ 4.70701511e-01 -8.82290525e-01 -1.87529203e-03 1.14406629e+02] [ 8.82284491e-01 4.70705232e-01 -3.26506616e-03 6.60474440e+01] [ 3.76344670e-03 -1.17669499e-04 9.99992911e-01 5.11485090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:66.07, Z:0.51 [[ 4.71403889e-01 -8.81915435e-01 -1.88107548e-03 1.14416450e+02] [ 8.81909412e-01 4.71407627e-01 -3.26173078e-03 6.60738618e+01] [ 3.76332405e-03 -1.21345598e-04 9.99992911e-01 5.10444680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:66.10, Z:0.51 [[ 4.72471955e-01 -8.81343700e-01 -1.88015780e-03 1.14428366e+02] [ 8.81337670e-01 4.72475682e-01 -3.26225967e-03 6.60997704e+01] [ 3.76350084e-03 -1.15727694e-04 9.99992911e-01 5.10249052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:66.12, Z:0.51 [[ 4.74388097e-01 -8.80313809e-01 -1.87923907e-03 1.14439483e+02] [ 8.80307769e-01 4.74391807e-01 -3.26278882e-03 6.61248198e+01] [ 3.76377367e-03 -1.06480575e-04 9.99992911e-01 5.09651043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:66.15, Z:0.51 [[ 4.77153602e-01 -8.78817906e-01 -1.87841323e-03 1.14450372e+02] [ 8.78811852e-01 4.77157290e-01 -3.26326420e-03 6.61498466e+01] [ 3.76411357e-03 -9.36935412e-05 9.99992911e-01 5.09261444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:66.18, Z:0.51 [[ 4.82390506e-01 -8.75954265e-01 -1.87750157e-03 1.14458439e+02] [ 8.75948188e-01 4.82394154e-01 -3.26378863e-03 6.61768284e+01] [ 3.76462535e-03 -7.01734471e-05 9.99992911e-01 5.08645190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:66.20, Z:0.51 [[ 4.84794228e-01 -8.74626226e-01 -1.87653626e-03 1.14469688e+02] [ 8.74620136e-01 4.84797857e-01 -3.26434354e-03 6.62025712e+01] [ 3.76482123e-03 -5.87214933e-05 9.99992911e-01 5.08063394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.690888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:114.48, Y:66.23, Z:0.51 [[ 4.89722252e-01 -8.71876481e-01 -1.87562673e-03 1.14478269e+02] [ 8.71870369e-01 4.89725842e-01 -3.26486606e-03 6.62304444e+01] [ 3.76510281e-03 -3.64258094e-05 9.99992911e-01 5.08439813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:66.26, Z:0.51 [[ 4.91532569e-01 -8.70857175e-01 -1.87471628e-03 1.14488611e+02] [ 8.70851053e-01 4.91536144e-01 -3.26538876e-03 6.62559974e+01] [ 3.76517805e-03 -2.75537199e-05 9.99992911e-01 5.08384901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:114.50, Y:66.28, Z:0.51 [[ 4.92930378e-01 -8.70066739e-01 -1.87409697e-03 1.14499759e+02] [ 8.70060611e-01 4.92933940e-01 -3.26574417e-03 6.62820711e+01] [ 3.76522138e-03 -2.07934495e-05 9.99992911e-01 5.08452556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78088847899997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:114.51, Y:66.31, Z:0.51 [[ 4.95771606e-01 -8.68450923e-01 -1.87319663e-03 1.14508739e+02] [ 8.68444781e-01 4.95775145e-01 -3.26626051e-03 6.63085647e+01] [ 3.76527129e-03 -7.44861624e-06 9.99992911e-01 5.09049990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81088847899997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:114.52, Y:66.33, Z:0.51 [[ 4.96673367e-01 -8.67935517e-01 -1.87238805e-03 1.14520290e+02] [ 8.67929369e-01 4.96676896e-01 -3.26672396e-03 6.63347045e+01] [ 3.76527764e-03 -2.60579012e-06 9.99992911e-01 5.09355234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84088847899997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:114.53, Y:66.36, Z:0.51 [[ 4.97089080e-01 -8.67697495e-01 -1.87150622e-03 1.14530944e+02] [ 8.67691344e-01 4.97092603e-01 -3.26722908e-03 6.63596240e+01] [ 3.76527839e-03 2.14148621e-07 9.99992911e-01 5.09485113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87088847899997 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:114.54, Y:66.39, Z:0.51 [[ 4.98068737e-01 -8.67135533e-01 -1.87090667e-03 1.14540690e+02] [ 8.67129377e-01 4.98072251e-01 -3.26757237e-03 6.63862979e+01] [ 3.76527480e-03 5.15750928e-06 9.99992911e-01 5.08918415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90088847899997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:114.55, Y:66.41, Z:0.51 [[ 4.98899807e-01 -8.66657652e-01 -1.87003714e-03 1.14552479e+02] [ 8.66651490e-01 4.98903311e-01 -3.26806993e-03 6.64114700e+01] [ 3.76526553e-03 9.76898418e-06 9.99992911e-01 5.08720738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93088847899998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:114.57, Y:66.44, Z:0.51 [[ 4.98868869e-01 -8.66675477e-01 -1.86261329e-03 1.14565320e+02] [ 8.66669299e-01 4.98872346e-01 -3.27231542e-03 6.64381198e+01] [ 3.76524179e-03 1.81865425e-05 9.99992911e-01 5.07554629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96088847899998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:114.58, Y:66.46, Z:0.51 [[ 4.99605223e-01 -8.66251192e-01 -1.86895127e-03 1.14576054e+02] [ 8.66245025e-01 4.99608719e-01 -3.26869153e-03 6.64648480e+01] [ 3.76525229e-03 1.40856250e-05 9.99992911e-01 5.06808358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99088847899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:114.59, Y:66.49, Z:0.51 [[ 4.99767496e-01 -8.66157584e-01 -1.86802870e-03 1.14588605e+02] [ 8.66151414e-01 4.99770987e-01 -3.26921869e-03 6.64905383e+01] [ 3.76524511e-03 1.58535377e-05 9.99992911e-01 5.06914810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02088847899998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:114.60, Y:66.52, Z:0.51 [[ 4.99755249e-01 -8.66164652e-01 -1.86711070e-03 1.14600889e+02] [ 8.66158481e-01 4.99758737e-01 -3.26974289e-03 6.65154203e+01] [ 3.76524060e-03 1.68574014e-05 9.99992911e-01 5.07374375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05088847899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:114.61, Y:66.54, Z:0.51 [[ 4.99355025e-01 -8.66395450e-01 -1.86653745e-03 1.14613655e+02] [ 8.66389278e-01 4.99358513e-01 -3.27007010e-03 6.65404432e+01] [ 3.76524522e-03 1.57779066e-05 9.99992911e-01 5.07580490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08088847899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:114.63, Y:66.57, Z:0.51 [[ 4.97760360e-01 -8.67312599e-01 -1.86560523e-03 1.14626019e+02] [ 8.67306432e-01 4.97763856e-01 -3.27060185e-03 6.65661646e+01] [ 3.76526504e-03 9.92453536e-06 9.99992911e-01 5.07644042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11088847899998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:114.64, Y:66.59, Z:0.51 [[ 4.96548488e-01 -8.68006983e-01 -1.86465679e-03 1.14638538e+02] [ 8.68000819e-01 4.96551989e-01 -3.27114249e-03 6.65903969e+01] [ 3.76527356e-03 5.75723237e-06 9.99992911e-01 5.07204160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14088847899998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:114.65, Y:66.62, Z:0.51 [[ 4.95029700e-01 -8.68874055e-01 -1.86380454e-03 1.14651558e+02] [ 8.68867895e-01 4.95033208e-01 -3.27162801e-03 6.66150670e+01] [ 3.76527783e-03 1.53105002e-07 9.99992911e-01 5.06488409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17088847899998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:114.66, Y:66.64, Z:0.51 [[ 4.91502560e-01 -8.70874138e-01 -1.86285973e-03 1.14664125e+02] [ 8.70867990e-01 4.91506090e-01 -3.27216590e-03 6.66385765e+01] [ 3.76525155e-03 -1.40269948e-05 9.99992911e-01 5.06248019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20088847899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:114.68, Y:66.66, Z:0.51 [[ 4.89418236e-01 -8.72047203e-01 -1.86201496e-03 1.14677836e+02] [ 8.72041062e-01 4.89421777e-01 -3.27264654e-03 6.66629166e+01] [ 3.76521293e-03 -2.20606123e-05 9.99992911e-01 5.07365024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230888479 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:114.69, Y:66.69, Z:0.51 [[ 4.86979513e-01 -8.73411409e-01 -1.86109275e-03 1.14690567e+02] [ 8.73405277e-01 4.86983069e-01 -3.27317090e-03 6.66865479e+01] [ 3.76514546e-03 -3.15210560e-05 9.99992911e-01 5.07939983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:114.70, Y:66.71, Z:0.51 [[ 4.84522405e-01 -8.74776873e-01 -1.86026504e-03 1.14703528e+02] [ 8.74770749e-01 4.84525975e-01 -3.27364125e-03 6.67099574e+01] [ 3.76505239e-03 -4.11529082e-05 9.99992911e-01 5.08666062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:114.72, Y:66.73, Z:0.51 [[ 4.84288642e-01 -8.74906311e-01 -1.85944706e-03 1.14717569e+02] [ 8.74900186e-01 4.84292210e-01 -3.27410580e-03 6.67348542e+01] [ 3.76505155e-03 -4.12183304e-05 9.99992911e-01 5.08773336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.320888479 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:114.73, Y:66.76, Z:0.51 [[ 4.79715093e-01 -8.77422347e-01 -1.85857206e-03 1.14730380e+02] [ 8.77416239e-01 4.79718690e-01 -3.27460242e-03 6.67594838e+01] [ 3.76480110e-03 -5.98651000e-05 9.99992911e-01 5.08875096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.350888479 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:114.74, Y:66.78, Z:0.51 [[ 4.77822219e-01 -8.78454595e-01 -1.85766809e-03 1.14743531e+02] [ 8.78448493e-01 4.77825826e-01 -3.27511516e-03 6.67847126e+01] [ 3.76468175e-03 -6.69429372e-05 9.99992911e-01 5.08607094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.380888479 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:114.76, Y:66.81, Z:0.51 [[ 4.75958999e-01 -8.79465510e-01 -1.85675067e-03 1.14755849e+02] [ 8.79459413e-01 4.75962615e-01 -3.27563519e-03 6.68095615e+01] [ 3.76455208e-03 -7.38688115e-05 9.99992911e-01 5.08316868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.410888479 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:114.77, Y:66.83, Z:0.51 [[ 4.75278339e-01 -8.79833539e-01 -1.85582262e-03 1.14768596e+02] [ 8.79827443e-01 4.75281956e-01 -3.27616089e-03 6.68335784e+01] [ 3.76451524e-03 -7.57153659e-05 9.99992911e-01 5.08726559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.440888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:114.78, Y:66.86, Z:0.51 [[ 4.74812714e-01 -8.80084908e-01 -1.85498933e-03 1.14781496e+02] [ 8.80078812e-01 4.74816331e-01 -3.27663264e-03 6.68584631e+01] [ 3.76449417e-03 -7.67499700e-05 9.99992911e-01 5.08976751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.470888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:114.79, Y:66.88, Z:0.51 [[ 4.74259875e-01 -8.80382947e-01 -1.85407172e-03 1.14792473e+02] [ 8.80376851e-01 4.74263493e-01 -3.27715179e-03 6.68840048e+01] [ 3.76446708e-03 -7.80602196e-05 9.99992911e-01 5.08127308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50088847899997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:114.80, Y:66.91, Z:0.51 [[ 4.73911016e-01 -8.80570789e-01 -1.85315250e-03 1.14804304e+02] [ 8.80564693e-01 4.73914633e-01 -3.27767150e-03 6.69083067e+01] [ 3.76445787e-03 -7.84960286e-05 9.99992911e-01 5.07552202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53088847899997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:114.82, Y:66.93, Z:0.51 [[ 4.73584802e-01 -8.80746277e-01 -1.85232578e-03 1.14817088e+02] [ 8.80740180e-01 4.73588418e-01 -3.27813864e-03 6.69333321e+01] [ 3.76444844e-03 -7.89411010e-05 9.99992911e-01 5.07412339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56088847899997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:114.83, Y:66.96, Z:0.51 [[ 4.73291010e-01 -8.80904190e-01 -1.85139953e-03 1.14829506e+02] [ 8.80898092e-01 4.73294624e-01 -3.27866168e-03 6.69570926e+01] [ 3.76444426e-03 -7.91332135e-05 9.99992911e-01 5.07479391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59088847899997 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:114.84, Y:66.98, Z:0.51 [[ 4.73358837e-01 -8.80867746e-01 -1.85056844e-03 1.14842170e+02] [ 8.80861646e-01 4.73362448e-01 -3.27913070e-03 6.69817918e+01] [ 3.76447008e-03 -7.78892649e-05 9.99992911e-01 5.08603550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62088847899997 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:114.86, Y:67.01, Z:0.51 [[ 4.73162577e-01 -8.80973186e-01 -1.84965622e-03 1.14855417e+02] [ 8.80967085e-01 4.73166186e-01 -3.27964518e-03 6.70070493e+01] [ 3.76447424e-03 -7.76808906e-05 9.99992911e-01 5.09113740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65088847899997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:114.87, Y:67.03, Z:0.51 [[ 4.72973644e-01 -8.81074636e-01 -1.84872429e-03 1.14868441e+02] [ 8.81068534e-01 4.72977251e-01 -3.28017042e-03 6.70320454e+01] [ 3.76447949e-03 -7.74186382e-05 9.99992911e-01 5.07831078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68088847899998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:114.88, Y:67.06, Z:0.51 [[ 4.74803645e-01 -8.80089816e-01 -1.84778758e-03 1.14879270e+02] [ 8.80083704e-01 4.74807236e-01 -3.28069800e-03 6.70566796e+01] [ 3.76465181e-03 -6.85203664e-05 9.99992911e-01 5.09282581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71088847899998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:114.89, Y:67.08, Z:0.51 [[ 4.75813767e-01 -8.79544114e-01 -1.84694700e-03 1.14890852e+02] [ 8.79537996e-01 4.75817348e-01 -3.28117116e-03 6.70812565e+01] [ 3.76474420e-03 -6.32336474e-05 9.99992911e-01 5.08962591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74088847899998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:114.90, Y:67.11, Z:0.51 [[ 4.76842981e-01 -8.78986555e-01 -1.84613062e-03 1.14903071e+02] [ 8.78980431e-01 4.76846551e-01 -3.28163043e-03 6.71063049e+01] [ 3.76483004e-03 -5.78902496e-05 9.99992911e-01 5.08079517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77088847899998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:114.92, Y:67.13, Z:0.51 [[ 4.79926740e-01 -8.77306628e-01 -1.84520712e-03 1.14915376e+02] [ 8.77300490e-01 4.79930285e-01 -3.28214962e-03 6.71305984e+01] [ 3.76502239e-03 -4.36097426e-05 9.99992911e-01 5.06226331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80088847899998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:114.93, Y:67.16, Z:0.51 [[ 4.81148491e-01 -8.76637170e-01 -1.84437874e-03 1.14928525e+02] [ 8.76631025e-01 4.81152025e-01 -3.28261505e-03 6.71555973e+01] [ 3.76508893e-03 -3.74143420e-05 9.99992911e-01 5.05576481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83088847899998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:114.94, Y:67.18, Z:0.51 [[ 4.82354324e-01 -8.75974262e-01 -1.84347515e-03 1.14941345e+02] [ 8.75968110e-01 4.82357846e-01 -3.28312241e-03 6.71810701e+01] [ 3.76514544e-03 -3.11971512e-05 9.99992911e-01 5.05465838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86088847899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:114.95, Y:67.21, Z:0.51 [[ 4.83836986e-01 -8.75156201e-01 -1.84257616e-03 1.14953678e+02] [ 8.75150041e-01 4.83840494e-01 -3.28362688e-03 6.72064663e+01] [ 3.76519938e-03 -2.37904674e-05 9.99992911e-01 5.05495374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89088847899998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:114.96, Y:67.23, Z:0.51 [[ 4.86824046e-01 -8.73498115e-01 -1.84167649e-03 1.14964558e+02] [ 8.73491941e-01 4.86827529e-01 -3.28413139e-03 6.72322905e+01] [ 3.76526140e-03 -9.89544593e-06 9.99992911e-01 5.05683119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92088847899998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:114.98, Y:67.26, Z:0.51 [[ 4.88331798e-01 -8.72656099e-01 -1.84075183e-03 1.14977109e+02] [ 8.72649917e-01 4.88335267e-01 -3.28464958e-03 6.72562868e+01] [ 3.76527353e-03 -2.33310079e-06 9.99992911e-01 5.05798684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95088847899999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:114.99, Y:67.28, Z:0.51 [[ 4.90955361e-01 -8.71182787e-01 -1.83992054e-03 1.14989202e+02] [ 8.71176593e-01 4.90958809e-01 -3.28511517e-03 6.72803950e+01] [ 3.76526098e-03 9.94919487e-06 9.99992911e-01 5.06639452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980888479 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:115.00, Y:67.30, Z:0.51 [[ 4.92057307e-01 -8.70560868e-01 -1.83909655e-03 1.15002022e+02] [ 8.70554668e-01 4.92060743e-01 -3.28557640e-03 6.73043283e+01] [ 3.76524145e-03 1.56577844e-05 9.99992911e-01 5.06002542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010888479 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:115.02, Y:67.33, Z:0.51 [[ 4.93237689e-01 -8.69892639e-01 -1.83831430e-03 1.15015411e+02] [ 8.69886433e-01 4.93241114e-01 -3.28601402e-03 6.73284828e+01] [ 3.76521160e-03 2.16612937e-05 9.99992911e-01 5.06497174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040888479 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:115.03, Y:67.35, Z:0.51 [[ 4.95146737e-01 -8.68807420e-01 -1.83744976e-03 1.15029367e+02] [ 8.68801205e-01 4.95150145e-01 -3.28649737e-03 6.73530124e+01] [ 3.76514682e-03 3.09198857e-05 9.99992911e-01 5.06198385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.070888479 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:115.04, Y:67.38, Z:0.51 [[ 4.95562659e-01 -8.68570250e-01 -1.83654576e-03 1.15042651e+02] [ 8.68564031e-01 4.95566061e-01 -3.28700246e-03 6.73773253e+01] [ 3.76512230e-03 3.37580905e-05 9.99992911e-01 5.05898768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.100888479 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:115.06, Y:67.40, Z:0.51 [[ 4.95902546e-01 -8.68376241e-01 -1.83560711e-03 1.15055492e+02] [ 8.68370019e-01 4.95905942e-01 -3.28752656e-03 6.74011317e+01] [ 3.76509843e-03 3.63066161e-05 9.99992911e-01 5.05246370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.130888479 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:115.07, Y:67.43, Z:0.51 [[ 4.96039330e-01 -8.68298115e-01 -1.83496986e-03 1.15069075e+02] [ 8.68291891e-01 4.96042722e-01 -3.28788221e-03 6.74253038e+01] [ 3.76508537e-03 3.76294362e-05 9.99992911e-01 5.05317192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.160888479 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:115.08, Y:67.45, Z:0.50 [[ 4.96511574e-01 -8.68028164e-01 -1.83403385e-03 1.15083583e+02] [ 8.68021936e-01 4.96514960e-01 -3.28840425e-03 6.74481560e+01] [ 3.76505275e-03 4.07491589e-05 9.99992911e-01 5.04172304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.190888479 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:115.10, Y:67.47, Z:0.50 [[ 4.96637766e-01 -8.67955971e-01 -1.83339877e-03 1.15097361e+02] [ 8.67949742e-01 4.96641148e-01 -3.28875829e-03 6.74711974e+01] [ 3.76503867e-03 4.20235853e-05 9.99992911e-01 5.03437624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.220888479 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:115.11, Y:67.50, Z:0.50 [[ 4.97312138e-01 -8.67569754e-01 -1.83277051e-03 1.15112291e+02] [ 8.67563521e-01 4.97315513e-01 -3.28910837e-03 6.74955229e+01] [ 3.76499615e-03 4.56686763e-05 9.99992911e-01 5.04345482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25088847899997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:115.13, Y:67.52, Z:0.50 [[ 4.97565764e-01 -8.67424323e-01 -1.83183254e-03 1.15125958e+02] [ 8.67418086e-01 4.97569133e-01 -3.28963068e-03 6.75184785e+01] [ 3.76496900e-03 4.78429321e-05 9.99992911e-01 5.03362171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28088847899997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:115.13, Y:67.54, Z:0.50 [[ 4.92400948e-01 -8.70366563e-01 -1.83119566e-03 1.15132186e+02] [ 8.70360345e-01 4.92404352e-01 -3.28998517e-03 6.75399727e+01] [ 3.76518179e-03 2.61917249e-05 9.99992911e-01 4.99509302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31088847899997 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:115.16, Y:67.57, Z:0.51 [[ 4.95620944e-01 -8.68537140e-01 -1.76515278e-03 1.15155106e+02] [ 8.68530777e-01 4.95624074e-01 -3.32661011e-03 6.75679401e+01] [ 3.76413665e-03 1.15648125e-04 9.99992909e-01 5.05423778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34088847899997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:115.17, Y:67.59, Z:0.51 [[ 4.95834991e-01 -8.68414795e-01 -1.84546990e-03 1.15169923e+02] [ 8.68408593e-01 4.95838425e-01 -3.28198650e-03 6.75899158e+01] [ 3.76518052e-03 2.47018245e-05 9.99992911e-01 5.05865360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37088847899997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:115.18, Y:67.61, Z:0.51 [[ 4.94809236e-01 -8.68999701e-01 -1.82763182e-03 1.15184942e+02] [ 8.68993466e-01 4.94812610e-01 -3.29189007e-03 6.76149344e+01] [ 3.76498675e-03 4.06575004e-05 9.99992912e-01 5.06990817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40088847899997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:115.20, Y:67.64, Z:0.51 [[ 4.93678182e-01 -8.69642742e-01 -1.83146262e-03 1.15200056e+02] [ 8.69636520e-01 4.93681578e-01 -3.28976417e-03 6.76400657e+01] [ 3.76507889e-03 3.13780105e-05 9.99992912e-01 5.07253904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43088847899998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:115.21, Y:67.66, Z:0.51 [[ 4.92319651e-01 -8.70412546e-01 -1.83353234e-03 1.15214720e+02] [ 8.70406333e-01 4.92323064e-01 -3.28861608e-03 6.76626483e+01] [ 3.76514295e-03 2.31321590e-05 9.99992912e-01 5.07097397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46088847899998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:115.23, Y:67.69, Z:0.51 [[ 4.90715548e-01 -8.71317921e-01 -1.82535586e-03 1.15229391e+02] [ 8.71311698e-01 4.90718943e-01 -3.29314821e-03 6.76869704e+01] [ 3.76511575e-03 2.55451202e-05 9.99992912e-01 5.06620296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49088847899998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:115.24, Y:67.71, Z:0.50 [[ 4.88752732e-01 -8.72420448e-01 -1.82448378e-03 1.15240215e+02] [ 8.72414231e-01 4.88756137e-01 -3.29363129e-03 6.77105145e+01] [ 3.76515893e-03 1.80656773e-05 9.99992912e-01 5.04120275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52088847899998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:115.25, Y:67.73, Z:0.50 [[ 4.86836667e-01 -8.73491164e-01 -1.80171087e-03 1.15250306e+02] [ 8.73484907e-01 4.86840000e-01 -3.30624907e-03 6.77296503e+01] [ 3.76512427e-03 3.58360265e-05 9.99992911e-01 4.99531645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55088847899998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:115.28, Y:67.76, Z:0.51 [[ 4.93914780e-01 -8.69508577e-01 -1.73924705e-03 1.15275922e+02] [ 8.69502169e-01 4.93917823e-01 -3.34102548e-03 6.77585302e+01] [ 3.76409543e-03 1.37902787e-04 9.99992906e-01 5.05125135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58088847899998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:115.29, Y:67.78, Z:0.50 [[ 4.93312635e-01 -8.69850148e-01 -1.83445417e-03 1.15289476e+02] [ 8.69843934e-01 4.93316045e-01 -3.28790564e-03 6.77828630e+01] [ 3.76495088e-03 2.62765591e-05 9.99992912e-01 5.04587344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61088847899998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:115.31, Y:67.81, Z:0.50 [[ 4.89722753e-01 -8.71876289e-01 -1.83351304e-03 1.15305536e+02] [ 8.71870088e-01 4.89726185e-01 -3.28843039e-03 6.78093113e+01] [ 3.76502383e-03 1.18340104e-05 9.99992912e-01 5.03240857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64088847899998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:115.32, Y:67.83, Z:0.51 [[ 4.91087833e-01 -8.71108079e-01 -1.85889780e-03 1.15319807e+02] [ 8.71101925e-01 4.91091351e-01 -3.27427381e-03 6.78302146e+01] [ 3.76513499e-03 -1.13334207e-05 9.99992912e-01 5.05863800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67088847899998 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:115.34, Y:67.86, Z:0.51 [[ 4.88423280e-01 -8.72604918e-01 -1.83199978e-03 1.15337008e+02] [ 8.72598719e-01 4.88426715e-01 -3.28925506e-03 6.78572910e+01] [ 3.76501778e-03 7.94808218e-06 9.99992912e-01 5.05391375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70088847899999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:115.35, Y:67.88, Z:0.51 [[ 4.86763073e-01 -8.73532025e-01 -1.87415560e-03 1.15348986e+02] [ 8.73525922e-01 4.86766678e-01 -3.26575962e-03 6.78768454e+01] [ 3.76502211e-03 -4.74723117e-05 9.99992911e-01 5.06596386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:115.36, Y:67.90, Z:0.51 [[ 4.85562888e-01 -8.74199823e-01 -1.83055637e-03 1.15363119e+02] [ 8.74193632e-01 4.85566339e-01 -3.29001811e-03 6.79013713e+01] [ 3.76498981e-03 -2.75002875e-06 9.99992912e-01 5.06144905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760888479 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:115.36, Y:67.92, Z:0.50 [[ 4.77074062e-01 -8.78861190e-01 -1.82962299e-03 1.15364419e+02] [ 8.78855031e-01 4.77077569e-01 -3.29053710e-03 6.79208817e+01] [ 3.76479744e-03 -3.81434696e-05 9.99992912e-01 5.01327230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790888479 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:115.39, Y:67.95, Z:0.51 [[ 4.82529733e-01 -8.75877866e-01 -1.73792661e-03 1.15391188e+02] [ 8.75871498e-01 4.82532854e-01 -3.34111835e-03 6.79522189e+01] [ 3.76501830e-03 8.99885641e-05 9.99992908e-01 5.06731161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.820888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:115.40, Y:67.97, Z:0.51 [[ 4.80143845e-01 -8.77187803e-01 -1.85618087e-03 1.15403256e+02] [ 8.77181689e-01 4.80147430e-01 -3.27570989e-03 6.79734122e+01] [ 3.76465323e-03 -5.53959281e-05 9.99992912e-01 5.07358707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.850888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:115.41, Y:67.99, Z:0.51 [[ 4.74389222e-01 -8.80313327e-01 -1.81998085e-03 1.15410908e+02] [ 8.80307159e-01 4.74392712e-01 -3.29570058e-03 6.79948516e+01] [ 3.76463480e-03 -3.86973355e-05 9.99992913e-01 5.06540511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.880888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:115.43, Y:68.02, Z:0.51 [[ 4.76996084e-01 -8.78903659e-01 -1.75894172e-03 1.15431449e+02] [ 8.78897355e-01 4.76999325e-01 -3.32924033e-03 6.80243556e+01] [ 3.76509552e-03 4.21053741e-05 9.99992911e-01 5.07314505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.910888479 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:115.44, Y:68.05, Z:0.51 [[ 4.76660972e-01 -8.79085285e-01 -1.83829076e-03 1.15444638e+02] [ 8.79079147e-01 4.76664515e-01 -3.28550346e-03 6.80489870e+01] [ 3.76448572e-03 -4.99318030e-05 9.99992913e-01 5.06617862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.940888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:115.46, Y:68.07, Z:0.50 [[ 4.77761031e-01 -8.78487921e-01 -1.83549699e-03 1.15458173e+02] [ 8.78481773e-01 4.77764555e-01 -3.28704174e-03 6.80737185e+01] [ 3.76456187e-03 -4.20302012e-05 9.99992913e-01 5.04674877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.970888479 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:115.47, Y:68.10, Z:0.51 [[ 4.78362031e-01 -8.78160811e-01 -1.83234144e-03 1.15470105e+02] [ 8.78154653e-01 4.78365539e-01 -3.28877777e-03 6.80958565e+01] [ 3.76460475e-03 -3.58527530e-05 9.99992913e-01 5.05311321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00088847899997 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:115.48, Y:68.12, Z:0.51 [[ 4.79319321e-01 -8.77638708e-01 -1.81295534e-03 1.15484182e+02] [ 8.77632506e-01 4.79322749e-01 -3.29942995e-03 6.81188335e+01] [ 3.76469818e-03 -9.62801520e-06 9.99992913e-01 5.05410728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03088847899997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:115.50, Y:68.14, Z:0.51 [[ 4.79553266e-01 -8.77510901e-01 -1.81211513e-03 1.15497674e+02] [ 8.77504696e-01 4.79556689e-01 -3.29989135e-03 6.81435403e+01] [ 3.76470256e-03 -7.66586265e-06 9.99992913e-01 5.05413036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06088847899997 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:115.51, Y:68.17, Z:0.51 [[ 4.80234386e-01 -8.77138332e-01 -1.81117767e-03 1.15511057e+02] [ 8.77132123e-01 4.80237801e-01 -3.30040580e-03 6.81681201e+01] [ 3.76470842e-03 -3.67376595e-06 9.99992913e-01 5.05577627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.52, Y:68.19, Z:0.51 [[ 4.80476135e-01 -8.77005933e-01 -1.81024111e-03 1.15523747e+02] [ 8.76999721e-01 4.80479545e-01 -3.30091942e-03 6.81926882e+01] [ 3.76470974e-03 -1.56794700e-06 9.99992913e-01 5.05368574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12088847899997 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:115.54, Y:68.22, Z:0.51 [[ 4.81538157e-01 -8.76423259e-01 -1.80930991e-03 1.15538347e+02] [ 8.76417041e-01 4.81541556e-01 -3.30142975e-03 6.82189261e+01] [ 3.76470773e-03 4.05435817e-06 9.99992913e-01 5.05639749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15088847899997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:115.55, Y:68.24, Z:0.51 [[ 4.82849376e-01 -8.75701529e-01 -1.81976043e-03 1.15551824e+02] [ 8.75695328e-01 4.82852805e-01 -3.29570395e-03 6.82412788e+01] [ 3.76472942e-03 -2.22710440e-06 9.99992913e-01 5.05063626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18088847899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:115.56, Y:68.27, Z:0.51 [[ 4.82926894e-01 -8.75658811e-01 -1.80595756e-03 1.15564673e+02] [ 8.75652581e-01 4.82930271e-01 -3.30325898e-03 6.82655892e+01] [ 3.76467941e-03 1.38411994e-05 9.99992913e-01 5.06723371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21088847899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:115.58, Y:68.29, Z:0.51 [[ 4.82682343e-01 -8.75793634e-01 -1.80711233e-03 1.15578333e+02] [ 8.75787407e-01 4.82685726e-01 -3.30262713e-03 6.82907026e+01] [ 3.76468714e-03 1.14735816e-05 9.99992913e-01 5.06831486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24088847899998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:115.59, Y:68.31, Z:0.51 [[ 4.83278388e-01 -8.75464869e-01 -1.80618990e-03 1.15591768e+02] [ 8.75458638e-01 4.83281763e-01 -3.30313152e-03 6.83137934e+01] [ 3.76467424e-03 1.50875243e-05 9.99992913e-01 5.07634472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27088847899998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:115.60, Y:68.34, Z:0.51 [[ 4.85022553e-01 -8.74499779e-01 -1.80536042e-03 1.15604771e+02] [ 8.74493540e-01 4.85025912e-01 -3.30358482e-03 6.83387425e+01] [ 3.76463078e-03 2.35371206e-05 9.99992913e-01 5.07736346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30088847899998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:115.62, Y:68.36, Z:0.51 [[ 4.86165529e-01 -8.73864877e-01 -1.80444692e-03 1.15616864e+02] [ 8.73858631e-01 4.86168877e-01 -3.30408370e-03 6.83629275e+01] [ 3.76458863e-03 2.95000814e-05 9.99992913e-01 5.07217625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33088847899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:115.63, Y:68.39, Z:0.51 [[ 4.87422811e-01 -8.73164217e-01 -1.80362655e-03 1.15629678e+02] [ 8.73157965e-01 4.87426147e-01 -3.30453146e-03 6.83877980e+01] [ 3.76453337e-03 3.58531265e-05 9.99992913e-01 5.06078667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36088847899998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:115.64, Y:68.41, Z:0.51 [[ 4.89649831e-01 -8.71917309e-01 -1.80269490e-03 1.15643732e+02] [ 8.71911046e-01 4.89653147e-01 -3.30503962e-03 6.84125081e+01] [ 3.76441648e-03 4.65224981e-05 9.99992913e-01 5.05086343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39088847899998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:115.66, Y:68.44, Z:0.51 [[ 4.89107940e-01 -8.72221403e-01 -1.80176287e-03 1.15657514e+02] [ 8.72215141e-01 4.89111257e-01 -3.30554764e-03 6.84361472e+01] [ 3.76443191e-03 4.52447404e-05 9.99992913e-01 5.05075421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42088847899998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:115.67, Y:68.46, Z:0.51 [[ 4.91275172e-01 -8.71002579e-01 -1.79222464e-03 1.15673677e+02] [ 8.70996289e-01 4.91278437e-01 -3.31074377e-03 6.84607354e+01] [ 3.76414768e-03 6.54652043e-05 9.99992913e-01 5.05130655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45088847899999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:115.69, Y:68.48, Z:0.50 [[ 4.91067039e-01 -8.71119923e-01 -1.80064469e-03 1.15688395e+02] [ 8.71113651e-01 4.91070337e-01 -3.30615793e-03 6.84848628e+01] [ 3.76430324e-03 5.49790110e-05 9.99992913e-01 5.04477759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:115.70, Y:68.51, Z:0.50 [[ 4.89523288e-01 -8.71988367e-01 -1.79969539e-03 1.15700353e+02] [ 8.71982099e-01 4.89526593e-01 -3.30667459e-03 6.85088527e+01] [ 3.76438053e-03 4.93920519e-05 9.99992913e-01 5.03003197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510888479 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:115.72, Y:68.53, Z:0.50 [[ 4.90536878e-01 -8.71418608e-01 -1.78332277e-03 1.15715643e+02] [ 8.71412304e-01 4.90540115e-01 -3.31558002e-03 6.85332630e+01] [ 3.76404949e-03 7.24048721e-05 9.99992913e-01 5.03913054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:115.73, Y:68.56, Z:0.50 [[ 4.89949857e-01 -8.71748761e-01 -1.79880672e-03 1.15731147e+02] [ 8.71742489e-01 4.89953156e-01 -3.30715810e-03 6.85554558e+01] [ 3.76434201e-03 5.22453871e-05 9.99992913e-01 5.02696450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.570888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:115.75, Y:68.58, Z:0.50 [[ 4.90504834e-01 -8.71436615e-01 -1.79816880e-03 1.15745581e+02] [ 8.71430340e-01 4.90508127e-01 -3.30750492e-03 6.85778754e+01] [ 3.76429730e-03 5.53683042e-05 9.99992913e-01 5.01703555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.600888479 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:115.76, Y:68.60, Z:0.50 [[ 4.89291474e-01 -8.72118503e-01 -1.78067523e-03 1.15760944e+02] [ 8.72112197e-01 4.89294709e-01 -3.31700539e-03 6.86025937e+01] [ 3.76409674e-03 7.00338670e-05 9.99992913e-01 5.01563896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.630888479 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:115.78, Y:68.63, Z:0.50 [[ 4.89269413e-01 -8.72130847e-01 -1.79629708e-03 1.15777067e+02] [ 8.72124573e-01 4.89272708e-01 -3.30852382e-03 6.86263728e+01] [ 3.76434481e-03 5.21646816e-05 9.99992913e-01 5.01572068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.660888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.79, Y:68.65, Z:0.50 [[ 4.89068606e-01 -8.72243472e-01 -1.79537278e-03 1.15790784e+02] [ 8.72237197e-01 4.89071899e-01 -3.30902531e-03 6.86496461e+01] [ 3.76434210e-03 5.23494720e-05 9.99992913e-01 5.02305570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.690888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:115.81, Y:68.67, Z:0.50 [[ 4.88937159e-01 -8.72317164e-01 -1.79453917e-03 1.15805501e+02] [ 8.72310888e-01 4.88940449e-01 -3.30947733e-03 6.86737621e+01] [ 3.76433667e-03 5.27303861e-05 9.99992913e-01 5.02878242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.720888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:115.82, Y:68.70, Z:0.50 [[ 4.88597497e-01 -8.72507461e-01 -1.79363554e-03 1.15821596e+02] [ 8.72501184e-01 4.88600786e-01 -3.30996700e-03 6.86965644e+01] [ 3.76434264e-03 5.22924536e-05 9.99992913e-01 5.04328663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75088847899997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:115.84, Y:68.72, Z:0.50 [[ 4.88478770e-01 -8.72573938e-01 -1.79271152e-03 1.15836879e+02] [ 8.72567660e-01 4.88482057e-01 -3.31046738e-03 6.87207228e+01] [ 3.76433497e-03 5.28309360e-05 9.99992913e-01 5.04847678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78088847899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:115.85, Y:68.74, Z:0.51 [[ 4.88555444e-01 -8.72531012e-01 -1.79176955e-03 1.15852054e+02] [ 8.72524732e-01 4.88558727e-01 -3.31097714e-03 6.87443641e+01] [ 3.76431488e-03 5.42326571e-05 9.99992913e-01 5.05304808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:115.87, Y:68.77, Z:0.51 [[ 4.88351485e-01 -8.72645186e-01 -1.79081733e-03 1.15866360e+02] [ 8.72638904e-01 4.88354766e-01 -3.31149209e-03 6.87669630e+01] [ 3.76431180e-03 5.44352113e-05 9.99992913e-01 5.05109669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84088847899997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:115.88, Y:68.79, Z:0.50 [[ 4.87900281e-01 -8.72897538e-01 -1.78996450e-03 1.15882215e+02] [ 8.72891257e-01 4.87903561e-01 -3.31195301e-03 6.87905077e+01] [ 3.76432568e-03 5.34584423e-05 9.99992913e-01 5.04027959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87088847899997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:115.90, Y:68.81, Z:0.50 [[ 4.86699268e-01 -8.73567755e-01 -1.78903349e-03 1.15896430e+02] [ 8.73561476e-01 4.86702553e-01 -3.31245584e-03 6.88147548e+01] [ 3.76438178e-03 4.93390935e-05 9.99992913e-01 5.03628596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:115.91, Y:68.84, Z:0.50 [[ 4.85508079e-01 -8.74230352e-01 -1.78810155e-03 1.15911039e+02] [ 8.74224075e-01 4.85511370e-01 -3.31295883e-03 6.88387631e+01] [ 3.76443280e-03 4.52668556e-05 9.99992913e-01 5.03550668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:115.93, Y:68.86, Z:0.50 [[ 4.82639645e-01 -8.75817207e-01 -1.78716878e-03 1.15927600e+02] [ 8.75810939e-01 4.82642952e-01 -3.31346194e-03 6.88609086e+01] [ 3.76455139e-03 3.39861249e-05 9.99992913e-01 5.03920051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.94, Y:68.88, Z:0.50 [[ 4.80898846e-01 -8.76774263e-01 -1.78632980e-03 1.15943188e+02] [ 8.76768001e-01 4.80902163e-01 -3.31391418e-03 6.88844674e+01] [ 3.76460453e-03 2.74606947e-05 9.99992913e-01 5.04886580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:68.91, Z:0.51 [[ 4.79191447e-01 -8.77708590e-01 -1.78539149e-03 1.15958974e+02] [ 8.77702333e-01 4.79194773e-01 -3.31441962e-03 6.89080189e+01] [ 3.76464484e-03 2.11992643e-05 9.99992913e-01 5.05780671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:68.93, Z:0.51 [[ 4.75610192e-01 -8.79654342e-01 -1.78445751e-03 1.15975421e+02] [ 8.79648096e-01 4.75613539e-01 -3.31492239e-03 6.89293886e+01] [ 3.76469803e-03 6.91622612e-06 9.99992913e-01 5.06610727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:68.95, Z:0.51 [[ 4.73468400e-01 -8.80808999e-01 -1.78361870e-03 1.15989990e+02] [ 8.80802760e-01 4.73471760e-01 -3.31537366e-03 6.89537732e+01] [ 3.76470404e-03 -1.29161556e-06 9.99992913e-01 5.06439604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:68.98, Z:0.51 [[ 4.71397575e-01 -8.81919015e-01 -1.78270007e-03 1.16004261e+02] [ 8.81912781e-01 4.71400946e-01 -3.31586754e-03 6.89778877e+01] [ 3.76469313e-03 -9.09406303e-06 9.99992913e-01 5.06218001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:69.00, Z:0.51 [[ 4.67688605e-01 -8.83891506e-01 -1.78176820e-03 1.16019033e+02] [ 8.83885285e-01 4.67691998e-01 -3.31636820e-03 6.90013975e+01] [ 3.76462841e-03 -2.38510705e-05 9.99992913e-01 5.05566309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:69.03, Z:0.51 [[ 4.66377138e-01 -8.84584193e-01 -1.78084093e-03 1.16033699e+02] [ 8.84577975e-01 4.66380537e-01 -3.31686606e-03 6.90252092e+01] [ 3.76459683e-03 -2.83821614e-05 9.99992913e-01 5.05598204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:69.05, Z:0.51 [[ 4.65142140e-01 -8.85234219e-01 -1.77991922e-03 1.16048465e+02] [ 8.85228003e-01 4.65145544e-01 -3.31736060e-03 6.90493004e+01] [ 3.76456261e-03 -3.25901315e-05 9.99992913e-01 5.05430205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:69.07, Z:0.51 [[ 4.63957326e-01 -8.85855764e-01 -1.77900224e-03 1.16064550e+02] [ 8.85849552e-01 4.63960735e-01 -3.31785227e-03 6.90718951e+01] [ 3.76452575e-03 -3.65864714e-05 9.99992913e-01 5.05873898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:69.10, Z:0.51 [[ 4.63566182e-01 -8.86060513e-01 -1.77840222e-03 1.16079294e+02] [ 8.86054300e-01 4.63569592e-01 -3.31817386e-03 6.90963187e+01] [ 3.76451602e-03 -3.75677480e-05 9.99992913e-01 5.05835760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:69.12, Z:0.51 [[ 4.63186658e-01 -8.86258969e-01 -1.77750615e-03 1.16092357e+02] [ 8.86252757e-01 4.63190067e-01 -3.31865381e-03 6.91202242e+01] [ 3.76450989e-03 -3.81635569e-05 9.99992913e-01 5.05264343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.11, Y:69.14, Z:0.50 [[ 4.63491519e-01 -8.86099574e-01 -1.77655237e-03 1.16105057e+02] [ 8.86093359e-01 4.63494922e-01 -3.31916431e-03 6.91436262e+01] [ 3.76453308e-03 -3.57867495e-05 9.99992913e-01 5.04276661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:69.17, Z:0.50 [[ 4.64151334e-01 -8.85754134e-01 -1.77589231e-03 1.16117934e+02] [ 8.85747914e-01 4.64154730e-01 -3.31951743e-03 6.91685024e+01] [ 3.76456510e-03 -3.22344668e-05 9.99992913e-01 5.04668099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:69.19, Z:0.50 [[ 4.64371034e-01 -8.85638974e-01 -1.77496494e-03 1.16131286e+02] [ 8.85632751e-01 4.64374426e-01 -3.32001322e-03 6.91923255e+01] [ 3.76458143e-03 -3.02491122e-05 9.99992913e-01 5.04532719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:69.22, Z:0.51 [[ 4.64580770e-01 -8.85528972e-01 -1.77413321e-03 1.16145415e+02] [ 8.85522747e-01 4.64584156e-01 -3.32045762e-03 6.92170044e+01] [ 3.76459561e-03 -2.84145522e-05 9.99992913e-01 5.05813454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:69.24, Z:0.51 [[ 4.64988693e-01 -8.85314843e-01 -1.77325337e-03 1.16160436e+02] [ 8.85308614e-01 4.64992074e-01 -3.32092742e-03 6.92409838e+01] [ 3.76461510e-03 -2.56827835e-05 9.99992913e-01 5.09413586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:69.26, Z:0.51 [[ 4.65117458e-01 -8.85247202e-01 -1.77233021e-03 1.16173408e+02] [ 8.85240972e-01 4.65120834e-01 -3.32142003e-03 6.92645349e+01] [ 3.76462549e-03 -2.40888775e-05 9.99992913e-01 5.09778366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:69.29, Z:0.51 [[ 4.65110194e-01 -8.85251021e-01 -1.77151936e-03 1.16186287e+02] [ 8.85244788e-01 4.65113567e-01 -3.32185245e-03 6.92892513e+01] [ 3.76463096e-03 -2.32008480e-05 9.99992913e-01 5.10250081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:69.31, Z:0.51 [[ 4.65329225e-01 -8.85135909e-01 -1.77059916e-03 1.16199156e+02] [ 8.85129674e-01 4.65332593e-01 -3.32234286e-03 6.93142668e+01] [ 3.76464246e-03 -2.12266310e-05 9.99992913e-01 5.09932683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:116.20, Y:69.33, Z:0.50 [[ 4.61556603e-01 -8.87108996e-01 -1.76968683e-03 1.16201873e+02] [ 8.87102773e-01 4.61559994e-01 -3.32282875e-03 6.93325822e+01] [ 3.76452792e-03 -3.62205435e-05 9.99992913e-01 5.02825380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:69.36, Z:0.51 [[ 4.68653400e-01 -8.83380544e-01 -1.67484202e-03 1.16226177e+02] [ 8.83374109e-01 4.68656382e-01 -3.37326224e-03 6.93629814e+01] [ 3.76479964e-03 1.01378746e-04 9.99992908e-01 5.09812157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:69.39, Z:0.51 [[ 4.69536776e-01 -8.82911140e-01 -1.77044165e-03 1.16240344e+02] [ 8.82904890e-01 4.69540113e-01 -3.32231784e-03 6.93878201e+01] [ 3.76460481e-03 -3.18117945e-06 9.99992914e-01 5.11542900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.25, Y:69.41, Z:0.51 [[ 4.70369066e-01 -8.82468023e-01 -1.76951418e-03 1.16253671e+02] [ 8.82461767e-01 4.70372394e-01 -3.32281175e-03 6.94119624e+01] [ 3.76460574e-03 1.41924796e-06 9.99992914e-01 5.11648558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.27, Y:69.44, Z:0.51 [[ 4.72064195e-01 -8.81562401e-01 -1.76868500e-03 1.16267108e+02] [ 8.81556138e-01 4.72067508e-01 -3.32325305e-03 6.94373996e+01] [ 3.76459367e-03 9.59365814e-06 9.99992914e-01 5.10609990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:69.46, Z:0.51 [[ 4.72715192e-01 -8.81213494e-01 -1.76786074e-03 1.16280311e+02] [ 8.81207226e-01 4.72718497e-01 -3.32369148e-03 6.94619021e+01] [ 3.76458225e-03 1.33077937e-05 9.99992914e-01 5.09691970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:69.49, Z:0.51 [[ 4.73852516e-01 -8.80602448e-01 -1.76695516e-03 1.16294139e+02] [ 8.80596174e-01 4.73855810e-01 -3.32417283e-03 6.94869270e+01] [ 3.76455670e-03 1.91937049e-05 9.99992914e-01 5.09682102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:69.51, Z:0.51 [[ 4.73929117e-01 -8.80561226e-01 -1.76603944e-03 1.16307003e+02] [ 8.80554950e-01 4.73932407e-01 -3.32465926e-03 6.95111184e+01] [ 3.76454936e-03 2.05580638e-05 9.99992914e-01 5.09210806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:69.54, Z:0.51 [[ 4.74023935e-01 -8.80510189e-01 -1.76520607e-03 1.16320157e+02] [ 8.80503911e-01 4.74027221e-01 -3.32510168e-03 6.95358731e+01] [ 3.76454163e-03 2.19069336e-05 9.99992914e-01 5.09469452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:69.56, Z:0.51 [[ 4.74168576e-01 -8.80432308e-01 -1.76429386e-03 1.16333568e+02] [ 8.80426027e-01 4.74171858e-01 -3.32558562e-03 6.95601658e+01] [ 3.76453152e-03 2.35579696e-05 9.99992914e-01 5.10486527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:69.58, Z:0.51 [[ 4.73623580e-01 -8.80725607e-01 -1.76335799e-03 1.16347257e+02] [ 8.80719327e-01 4.73626862e-01 -3.32608178e-03 6.95839337e+01] [ 3.76453911e-03 2.22872973e-05 9.99992914e-01 5.10219719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:69.61, Z:0.51 [[ 4.72787611e-01 -8.81174653e-01 -1.76251630e-03 1.16360974e+02] [ 8.81168374e-01 4.72790896e-01 -3.32652774e-03 6.96083022e+01] [ 3.76455359e-03 1.96674807e-05 9.99992914e-01 5.11508765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:69.63, Z:0.51 [[ 4.70636546e-01 -8.82325415e-01 -1.76158698e-03 1.16374799e+02] [ 8.82319143e-01 4.70639843e-01 -3.32701980e-03 6.96331890e+01] [ 3.76458714e-03 1.15351921e-05 9.99992914e-01 5.09837072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:69.66, Z:0.51 [[ 4.70256579e-01 -8.82527962e-01 -1.77376262e-03 1.16388025e+02] [ 8.82521715e-01 4.70259924e-01 -3.32057618e-03 6.96573087e+01] [ 3.76463081e-03 -3.86123651e-06 9.99992914e-01 5.13106617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:69.68, Z:0.51 [[ 4.68293602e-01 -8.83571166e-01 -1.75974194e-03 1.16401475e+02] [ 8.83564899e-01 4.68296908e-01 -3.32798990e-03 6.96821784e+01] [ 3.76459763e-03 3.63016557e-06 9.99992914e-01 5.13829551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:69.71, Z:0.52 [[ 4.69267917e-01 -8.83054091e-01 -1.75931442e-03 1.16419103e+02] [ 8.83047819e-01 4.69271214e-01 -3.32821589e-03 6.97095813e+01] [ 3.76459027e-03 8.26617337e-06 9.99992914e-01 5.15528085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:69.73, Z:0.51 [[ 4.66798064e-01 -8.84362114e-01 -1.79406299e-03 1.16427795e+02] [ 8.84355921e-01 4.66801510e-01 -3.30984147e-03 6.97322937e+01] [ 3.76456972e-03 -4.15626353e-05 9.99992913e-01 5.11863310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:69.76, Z:0.51 [[ 4.64987470e-01 -8.85315515e-01 -1.75806661e-03 1.16440897e+02] [ 8.85309257e-01 4.64990794e-01 -3.32885225e-03 6.97569392e+01] [ 3.76456933e-03 -8.55805689e-06 9.99992914e-01 5.13644567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:69.78, Z:0.51 [[ 4.64159204e-01 -8.85750047e-01 -1.75715097e-03 1.16453840e+02] [ 8.85743790e-01 4.64162530e-01 -3.32933550e-03 6.97819223e+01] [ 3.76456271e-03 -1.10438396e-05 9.99992914e-01 5.12965261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:69.81, Z:0.51 [[ 4.63915091e-01 -8.85877928e-01 -1.75623333e-03 1.16467116e+02] [ 8.85871670e-01 4.63918415e-01 -3.32981949e-03 6.98072570e+01] [ 3.76456257e-03 -1.10438392e-05 9.99992914e-01 5.13072479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:69.83, Z:0.51 [[ 4.62893222e-01 -8.86412310e-01 -1.75531555e-03 1.16480113e+02] [ 8.86406054e-01 4.62896550e-01 -3.33030322e-03 6.98327264e+01] [ 3.76455129e-03 -1.43475455e-05 9.99992914e-01 5.12447258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:69.86, Z:0.51 [[ 4.60878003e-01 -8.87461767e-01 -1.75440577e-03 1.16492168e+02] [ 8.87455517e-01 4.60881341e-01 -3.33078243e-03 6.98582098e+01] [ 3.76451495e-03 -2.18727272e-05 9.99992914e-01 5.10788456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:69.88, Z:0.51 [[ 4.60000143e-01 -8.87917110e-01 -1.75348254e-03 1.16504039e+02] [ 8.87910861e-01 4.60003484e-01 -3.33126839e-03 6.98821848e+01] [ 3.76449828e-03 -2.45522621e-05 9.99992914e-01 5.09807148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:69.91, Z:0.51 [[ 4.58508341e-01 -8.88688376e-01 -1.75284463e-03 1.16516015e+02] [ 8.88682131e-01 4.58511690e-01 -3.33160401e-03 6.99071259e+01] [ 3.76445751e-03 -3.01534789e-05 9.99992914e-01 5.10236987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:69.93, Z:0.51 [[ 4.55457521e-01 -8.90255793e-01 -1.75191476e-03 1.16528298e+02] [ 8.90249558e-01 4.55460889e-01 -3.33209291e-03 6.99319989e+01] [ 3.76434367e-03 -4.20145647e-05 9.99992914e-01 5.10386716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:69.96, Z:0.51 [[ 4.53778650e-01 -8.91112714e-01 -1.75147674e-03 1.16544190e+02] [ 8.91106485e-01 4.53782028e-01 -3.33232313e-03 6.99588781e+01] [ 3.76426418e-03 -4.86151873e-05 9.99992914e-01 5.12514236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:69.98, Z:0.51 [[ 4.51903203e-01 -8.92065219e-01 -1.77210037e-03 1.16554833e+02] [ 8.92059039e-01 4.51906670e-01 -3.32148413e-03 6.99818526e+01] [ 3.76380444e-03 -7.98288363e-05 9.99992914e-01 5.13538695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:70.01, Z:0.52 [[ 4.50091397e-01 -8.92980779e-01 -1.75012458e-03 1.16567231e+02] [ 8.92974561e-01 4.50094795e-01 -3.33302331e-03 7.00074606e+01] [ 3.76404772e-03 -6.26516101e-05 9.99992914e-01 5.16150497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:70.03, Z:0.52 [[ 4.50005693e-01 -8.93023972e-01 -1.74966825e-03 1.16578424e+02] [ 8.93017754e-01 4.50009090e-01 -3.33326285e-03 7.00317174e+01] [ 3.76405024e-03 -6.24975490e-05 9.99992914e-01 5.15700363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:70.06, Z:0.52 [[ 4.52372328e-01 -8.91827460e-01 -1.74895497e-03 1.16595231e+02] [ 8.91821231e-01 4.52375706e-01 -3.33363706e-03 7.00589448e+01] [ 3.76421381e-03 -5.17100190e-05 9.99992914e-01 5.15484227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43088847899998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:116.60, Y:70.08, Z:0.51 [[ 4.52515835e-01 -8.91754576e-01 -1.78737540e-03 1.16600098e+02] [ 8.91748425e-01 4.52519355e-01 -3.31346806e-03 7.00823529e+01] [ 3.76362227e-03 -9.44924303e-05 9.99992913e-01 5.14730801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:70.11, Z:0.51 [[ 4.53897593e-01 -8.91052142e-01 -1.74763081e-03 1.16611593e+02] [ 8.91045905e-01 4.53900956e-01 -3.33429968e-03 7.01068924e+01] [ 3.76428617e-03 -4.37886793e-05 9.99992914e-01 5.14135973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:70.13, Z:0.51 [[ 4.55478696e-01 -8.90244970e-01 -1.74679951e-03 1.16623428e+02] [ 8.90238725e-01 4.55482044e-01 -3.33473514e-03 7.01329508e+01] [ 3.76436699e-03 -3.61677519e-05 9.99992914e-01 5.14020457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:70.16, Z:0.51 [[ 4.56900971e-01 -8.89515854e-01 -1.74587183e-03 1.16634295e+02] [ 8.89509602e-01 4.56904306e-01 -3.33522074e-03 7.01580046e+01] [ 3.76442808e-03 -2.91041623e-05 9.99992914e-01 5.13266959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:116.64, Y:70.18, Z:0.51 [[ 4.60773280e-01 -8.87516163e-01 -1.74503673e-03 1.16644329e+02] [ 8.87509895e-01 4.60776584e-01 -3.33565762e-03 7.01844165e+01] [ 3.76452212e-03 -1.17554580e-05 9.99992914e-01 5.14490618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:70.21, Z:0.51 [[ 4.62127094e-01 -8.86811991e-01 -1.74410531e-03 1.16656023e+02] [ 8.86805716e-01 4.62130385e-01 -3.33614456e-03 7.02103492e+01] [ 3.76453706e-03 -4.95976847e-06 9.99992914e-01 5.14941174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:70.24, Z:0.52 [[ 4.63596473e-01 -8.86044735e-01 -1.74316728e-03 1.16667852e+02] [ 8.86038452e-01 4.63599750e-01 -3.33663462e-03 7.02359759e+01] [ 3.76453945e-03 2.33880279e-06 9.99992914e-01 5.15446148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.68, Y:70.26, Z:0.51 [[ 4.65130223e-01 -8.85240555e-01 -1.74222277e-03 1.16677209e+02] [ 8.85234265e-01 4.65133486e-01 -3.33712772e-03 7.02625053e+01] [ 3.76452695e-03 9.92367011e-06 9.99992914e-01 5.14877822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.69, Y:70.29, Z:0.51 [[ 4.65035313e-01 -8.85290419e-01 -1.74128572e-03 1.16688260e+02] [ 8.85284128e-01 4.65038572e-01 -3.33761660e-03 7.02877972e+01] [ 3.76452502e-03 1.05769722e-05 9.99992914e-01 5.14892699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:70.31, Z:0.51 [[ 4.64490756e-01 -8.85576258e-01 -1.74044119e-03 1.16699313e+02] [ 8.85569967e-01 4.64494017e-01 -3.33805693e-03 7.03136191e+01] [ 3.76452848e-03 9.21414232e-06 9.99992914e-01 5.14240431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.71, Y:70.34, Z:0.51 [[ 4.63936546e-01 -8.85866726e-01 -1.73950456e-03 1.16710033e+02] [ 8.85860435e-01 4.63939807e-01 -3.33854494e-03 7.03383729e+01] [ 3.76453129e-03 7.91474015e-06 9.99992914e-01 5.13272848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.72, Y:70.36, Z:0.51 [[ 4.62128927e-01 -8.86811046e-01 -1.73866280e-03 1.16720657e+02] [ 8.86804760e-01 4.62132198e-01 -3.33898326e-03 7.03648254e+01] [ 3.76453930e-03 1.18630207e-06 9.99992914e-01 5.12925718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.73, Y:70.39, Z:0.51 [[ 4.60354155e-01 -8.87733649e-01 -1.73774052e-03 1.16732632e+02] [ 8.87727368e-01 4.60357435e-01 -3.33946318e-03 7.03893266e+01] [ 3.76453561e-03 -5.30406989e-06 9.99992914e-01 5.13085977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.820888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.75, Y:70.41, Z:0.51 [[ 4.58549235e-01 -8.88667307e-01 -1.73691287e-03 1.16745094e+02] [ 8.88661031e-01 4.58552525e-01 -3.33989361e-03 7.04143439e+01] [ 3.76452004e-03 -1.20211219e-05 9.99992914e-01 5.13604912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.850888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:116.76, Y:70.44, Z:0.51 [[ 4.54317804e-01 -8.90837987e-01 -1.73600685e-03 1.16756019e+02] [ 8.90831725e-01 4.54321120e-01 -3.34036447e-03 7.04392325e+01] [ 3.76442814e-03 -2.89029236e-05 9.99992914e-01 5.12704546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.880888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:116.77, Y:70.46, Z:0.51 [[ 4.52296706e-01 -8.91865842e-01 -1.73505022e-03 1.16768373e+02] [ 8.91859585e-01 4.52300033e-01 -3.34086129e-03 7.04647758e+01] [ 3.76436334e-03 -3.63606075e-05 9.99992914e-01 5.11701081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.910888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.78, Y:70.49, Z:0.51 [[ 4.50071661e-01 -8.92990758e-01 -1.73410936e-03 1.16780803e+02] [ 8.92984508e-01 4.50074999e-01 -3.34134958e-03 7.04899998e+01] [ 3.76427356e-03 -4.46860409e-05 9.99992914e-01 5.11135205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.940888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.79, Y:70.51, Z:0.51 [[ 4.46777228e-01 -8.94643563e-01 -1.73317432e-03 1.16793345e+02] [ 8.94637323e-01 4.46780586e-01 -3.34183452e-03 7.05143050e+01] [ 3.76409938e-03 -5.75068742e-05 9.99992914e-01 5.11133954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.970888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:116.81, Y:70.54, Z:0.51 [[ 4.44970489e-01 -8.95543557e-01 -1.73233634e-03 1.16805565e+02] [ 8.95537323e-01 4.44973857e-01 -3.34226885e-03 7.05392436e+01] [ 3.76399172e-03 -6.41608413e-05 9.99992914e-01 5.10838531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00088847899997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.82, Y:70.56, Z:0.51 [[ 4.41994705e-01 -8.97015988e-01 -1.73141800e-03 1.16817369e+02] [ 8.97009763e-01 4.41998090e-01 -3.34274452e-03 7.05646646e+01] [ 3.76377873e-03 -7.56234681e-05 9.99992914e-01 5.10451052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03088847899997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:116.83, Y:70.59, Z:0.51 [[ 4.40203656e-01 -8.97896290e-01 -1.73048359e-03 1.16829862e+02] [ 8.97890069e-01 4.40207049e-01 -3.34322818e-03 7.05901518e+01] [ 3.76364325e-03 -8.20827620e-05 9.99992914e-01 5.10809304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:116.84, Y:70.62, Z:0.51 [[ 4.38768563e-01 -8.98598441e-01 -1.72952889e-03 1.16842376e+02] [ 8.98592224e-01 4.38771963e-01 -3.34372200e-03 7.06151346e+01] [ 3.76353215e-03 -8.70211155e-05 9.99992914e-01 5.11294462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09088847899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:116.85, Y:70.64, Z:0.51 [[ 4.37222841e-01 -8.99351544e-01 -1.72858051e-03 1.16854378e+02] [ 8.99345331e-01 4.37226249e-01 -3.34421220e-03 7.06398246e+01] [ 3.76340318e-03 -9.24248528e-05 9.99992914e-01 5.11407686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:116.87, Y:70.67, Z:0.51 [[ 4.38149203e-01 -8.98900601e-01 -1.72793701e-03 1.16873947e+02] [ 8.98894383e-01 4.38152601e-01 -3.34454466e-03 7.06676460e+01] [ 3.76351330e-03 -8.78232966e-05 9.99992914e-01 5.13651374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:116.88, Y:70.69, Z:0.51 [[ 4.33533553e-01 -9.01135655e-01 -1.78600774e-03 1.16877509e+02] [ 9.01129576e-01 4.33537197e-01 -3.31451186e-03 7.06892518e+01] [ 3.76112561e-03 -1.72472296e-04 9.99992912e-01 5.12350885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:116.89, Y:70.71, Z:0.51 [[ 4.32539226e-01 -9.01613463e-01 -1.72660626e-03 1.16889314e+02] [ 9.01607264e-01 4.32542658e-01 -3.34517187e-03 7.07142252e+01] [ 3.76288286e-03 -1.09802694e-04 9.99992914e-01 5.12391662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21088847899998 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:116.91, Y:70.74, Z:0.52 [[ 4.35604044e-01 -9.00136734e-01 -1.72567614e-03 1.16909954e+02] [ 9.00130521e-01 4.35607451e-01 -3.34565163e-03 7.07446013e+01] [ 3.76326131e-03 -9.59543838e-05 9.99992914e-01 5.15435375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24088847899998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:116.91, Y:70.77, Z:0.51 [[ 4.30594641e-01 -9.02543632e-01 -1.80201239e-03 1.16911974e+02] [ 9.02537599e-01 4.30598364e-01 -3.30621854e-03 7.07659219e+01] [ 3.75995007e-03 -2.02743951e-04 9.99992911e-01 5.12741177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27088847899998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:116.93, Y:70.79, Z:0.52 [[ 4.34570462e-01 -9.00636187e-01 -1.72404599e-03 1.16933537e+02] [ 9.00629975e-01 4.34573871e-01 -3.34638655e-03 7.07947517e+01] [ 3.76310216e-03 -9.84867522e-05 9.99992915e-01 5.15944309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30088847899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:116.94, Y:70.82, Z:0.51 [[ 4.30981995e-01 -9.02358756e-01 -1.78748532e-03 1.16936624e+02] [ 9.02352691e-01 4.30985662e-01 -3.31366948e-03 7.08169458e+01] [ 3.76049921e-03 -1.84810307e-04 9.99992912e-01 5.14164617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33088847899998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:116.95, Y:70.84, Z:0.51 [[ 4.33283417e-01 -9.01256075e-01 -1.72246083e-03 1.16947331e+02] [ 9.01249866e-01 4.33286829e-01 -3.34713162e-03 7.08432698e+01] [ 3.76294229e-03 -1.02110965e-04 9.99992915e-01 5.13892482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:116.96, Y:70.87, Z:0.51 [[ 4.36084521e-01 -8.99904065e-01 -1.72151821e-03 1.16957140e+02] [ 8.99897843e-01 4.36087910e-01 -3.34761636e-03 7.08666705e+01] [ 3.76326685e-03 -8.93468481e-05 9.99992915e-01 5.13480977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39088847899998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:116.97, Y:70.89, Z:0.51 [[ 4.37082328e-01 -8.99419891e-01 -1.70212416e-03 1.16969855e+02] [ 8.99413627e-01 4.37085638e-01 -3.35758026e-03 7.08948126e+01] [ 3.76384850e-03 -6.33746623e-05 9.99992915e-01 5.12927596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42088847899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:116.98, Y:70.92, Z:0.51 [[ 4.42271262e-01 -8.96879686e-01 -1.72032012e-03 1.16978377e+02] [ 8.96873439e-01 4.42274603e-01 -3.34823118e-03 7.09203114e+01] [ 3.76381443e-03 -6.20829950e-05 9.99992915e-01 5.11877517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45088847899999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:116.99, Y:70.95, Z:0.51 [[ 4.44057551e-01 -8.95996633e-01 -1.71037660e-03 1.16990433e+02] [ 8.95990359e-01 4.44060842e-01 -3.35333715e-03 7.09468157e+01] [ 3.76409007e-03 -4.34062633e-05 9.99992915e-01 5.11191979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480888479 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:117.00, Y:70.97, Z:0.51 [[ 4.46004582e-01 -8.95029026e-01 -1.71906158e-03 1.17002366e+02] [ 8.95022762e-01 4.46007893e-01 -3.34887893e-03 7.09725199e+01] [ 3.76405888e-03 -4.49838937e-05 9.99992915e-01 5.10875561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510888479 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:117.01, Y:71.00, Z:0.51 [[ 4.47833379e-01 -8.94115380e-01 -1.71811743e-03 1.17014253e+02] [ 8.94109108e-01 4.47836673e-01 -3.34936325e-03 7.09980687e+01] [ 3.76415319e-03 -3.62277834e-05 9.99992915e-01 5.10943660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:117.03, Y:71.02, Z:0.51 [[ 4.50899084e-01 -8.92573284e-01 -1.71717211e-03 1.17025814e+02] [ 8.92566998e-01 4.50902353e-01 -3.34984783e-03 7.10237367e+01] [ 3.76426163e-03 -2.22478349e-05 9.99992915e-01 5.10905986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.570888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:117.05, Y:71.05, Z:0.51 [[ 4.57283073e-01 -8.89319541e-01 -1.71622409e-03 1.17050491e+02] [ 8.89313230e-01 4.57286294e-01 -3.35033346e-03 7.10537605e+01] [ 3.76432277e-03 5.78998833e-06 9.99992915e-01 5.12776110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.600888479 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:117.05, Y:71.07, Z:0.51 [[ 4.53568301e-01 -8.91219693e-01 -1.80414485e-03 1.17050568e+02] [ 8.91213571e-01 4.53571876e-01 -3.30520234e-03 7.10740967e+01] [ 3.76397078e-03 -1.08743361e-04 9.99992910e-01 5.12069481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.630888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:117.06, Y:71.10, Z:0.51 [[ 4.56740334e-01 -8.89598407e-01 -1.71508099e-03 1.17061137e+02] [ 8.89592097e-01 4.56743554e-01 -3.35078916e-03 7.10998916e+01] [ 3.76420888e-03 4.71806536e-06 9.99992915e-01 5.13129645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.660888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:117.07, Y:71.12, Z:0.51 [[ 4.58457935e-01 -8.88714456e-01 -1.71410526e-03 1.17072718e+02] [ 8.88708137e-01 4.58461139e-01 -3.35128822e-03 7.11246996e+01] [ 3.76418893e-03 1.30853827e-05 9.99992915e-01 5.13527430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.690888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:117.08, Y:71.15, Z:0.51 [[ 4.60010245e-01 -8.87911955e-01 -1.71322973e-03 1.17084851e+02] [ 8.87905629e-01 4.60013435e-01 -3.35173574e-03 7.11500525e+01] [ 3.76415493e-03 2.06464585e-05 9.99992915e-01 5.13883370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.720888479 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:117.10, Y:71.17, Z:0.51 [[ 4.61353837e-01 -8.87214577e-01 -1.71227058e-03 1.17096923e+02] [ 8.87208244e-01 4.61357014e-01 -3.35222566e-03 7.11749740e+01] [ 3.76411151e-03 2.74216034e-05 9.99992915e-01 5.14062808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75088847899997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:117.11, Y:71.20, Z:0.51 [[ 4.63707916e-01 -8.85986479e-01 -1.71130493e-03 1.17108110e+02] [ 8.85980136e-01 4.63711072e-01 -3.35271856e-03 7.11995365e+01] [ 3.76401435e-03 3.84999633e-05 9.99992915e-01 5.12144770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78088847899997 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:117.12, Y:71.22, Z:0.51 [[ 4.64610445e-01 -8.85513528e-01 -1.71043735e-03 1.17120354e+02] [ 8.85507181e-01 4.64613591e-01 -3.35316110e-03 7.12245895e+01] [ 3.76396196e-03 4.33091160e-05 9.99992915e-01 5.11321673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81088847899997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:117.13, Y:71.25, Z:0.51 [[ 4.65280726e-01 -8.85161524e-01 -1.70950309e-03 1.17132603e+02] [ 8.85155172e-01 4.65283864e-01 -3.35363734e-03 7.12499792e+01] [ 3.76391494e-03 4.72073194e-05 9.99992915e-01 5.10398197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84088847899997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:117.15, Y:71.27, Z:0.51 [[ 4.65564804e-01 -8.85012143e-01 -1.70857185e-03 1.17145116e+02] [ 8.85005789e-01 4.65567937e-01 -3.35411171e-03 7.12749695e+01] [ 3.76388586e-03 4.94603856e-05 9.99992915e-01 5.10074228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87088847899997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:117.16, Y:71.30, Z:0.51 [[ 4.65244303e-01 -8.85180672e-01 -1.70763574e-03 1.17158206e+02] [ 8.85174317e-01 4.65247434e-01 -3.35458823e-03 7.12999507e+01] [ 3.76388981e-03 4.91477617e-05 9.99992915e-01 5.10084047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90088847899997 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:117.17, Y:71.32, Z:0.51 [[ 4.64522874e-01 -8.85559477e-01 -1.70667553e-03 1.17170928e+02] [ 8.85553122e-01 4.64526007e-01 -3.35507667e-03 7.13238625e+01] [ 3.76391511e-03 4.71580146e-05 9.99992915e-01 5.09961126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93088847899998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:117.19, Y:71.35, Z:0.51 [[ 4.61728777e-01 -8.87019519e-01 -1.70581574e-03 1.17185327e+02] [ 8.87013173e-01 4.61731926e-01 -3.35551376e-03 7.13482791e+01] [ 3.76403579e-03 3.62562319e-05 9.99992915e-01 5.09706437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96088847899998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:117.20, Y:71.37, Z:0.51 [[ 4.59337171e-01 -8.88260354e-01 -1.70487226e-03 1.17198703e+02] [ 8.88254015e-01 4.59340334e-01 -3.35599305e-03 7.13727775e+01] [ 3.76411217e-03 2.71727231e-05 9.99992915e-01 5.09817780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99088847899998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:117.21, Y:71.40, Z:0.51 [[ 4.56630525e-01 -8.89654799e-01 -1.70391711e-03 1.17212108e+02] [ 8.89648467e-01 4.56633704e-01 -3.35647794e-03 7.13965682e+01] [ 3.76417268e-03 1.67830345e-05 9.99992915e-01 5.09741151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02088847899998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:117.22, Y:71.42, Z:0.51 [[ 4.56382908e-01 -8.89781850e-01 -1.70326968e-03 1.17224980e+02] [ 8.89775518e-01 4.56386086e-01 -3.35680645e-03 7.14220945e+01] [ 3.76417403e-03 1.64614284e-05 9.99992915e-01 5.09848488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05088847899998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:117.24, Y:71.45, Z:0.51 [[ 4.53318862e-01 -8.91346796e-01 -1.70233531e-03 1.17238630e+02] [ 8.91340474e-01 4.53322058e-01 -3.35728023e-03 7.14467483e+01] [ 3.76420712e-03 4.55808906e-06 9.99992915e-01 5.10018468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08088847899998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:117.25, Y:71.47, Z:0.51 [[ 4.47409199e-01 -8.94327744e-01 -1.70140731e-03 1.17254160e+02] [ 8.94321441e-01 4.47412434e-01 -3.35775046e-03 7.14706406e+01] [ 3.76416017e-03 -1.93165908e-05 9.99992915e-01 5.10078210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11088847899998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:117.27, Y:71.50, Z:0.51 [[ 4.44410320e-01 -8.95821731e-01 -1.70104792e-03 1.17268297e+02] [ 8.95815438e-01 4.44413575e-01 -3.35793244e-03 7.14950022e+01] [ 3.76407764e-03 -3.15251505e-05 9.99992915e-01 5.11408601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14088847899998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:117.28, Y:71.52, Z:0.51 [[ 4.41711436e-01 -8.97155571e-01 -1.69962759e-03 1.17281552e+02] [ 8.97149285e-01 4.41714704e-01 -3.35865119e-03 7.15183803e+01] [ 3.76398313e-03 -4.12650406e-05 9.99992915e-01 5.12109332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:117.30, Y:71.54, Z:0.51 [[ 4.38130471e-01 -8.98909787e-01 -1.69878835e-03 1.17295139e+02] [ 8.98903512e-01 4.38133761e-01 -3.35907562e-03 7.15425170e+01] [ 3.76380248e-03 -5.53334250e-05 9.99992915e-01 5.12464427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20088847899999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:117.31, Y:71.57, Z:0.51 [[ 4.36655178e-01 -8.99627352e-01 -1.69785706e-03 1.17307384e+02] [ 8.99621081e-01 4.36658475e-01 -3.35954628e-03 7.15664361e+01] [ 3.76372340e-03 -6.04647239e-05 9.99992915e-01 5.11805217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230888479 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:117.32, Y:71.59, Z:0.51 [[ 4.35590020e-01 -9.00143574e-01 -1.69722444e-03 1.17320600e+02] [ 9.00137306e-01 4.35593321e-01 -3.35986584e-03 7.15916272e+01] [ 3.76366128e-03 -6.42110108e-05 9.99992915e-01 5.11277291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260888479 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:117.33, Y:71.62, Z:0.51 [[ 4.34976029e-01 -9.00440435e-01 -1.69629080e-03 1.17334157e+02] [ 9.00434167e-01 4.34979331e-01 -3.36033715e-03 7.16162243e+01] [ 3.76363488e-03 -6.57320845e-05 9.99992915e-01 5.10750861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290888479 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:117.35, Y:71.64, Z:0.51 [[ 4.34921114e-01 -9.00466962e-01 -1.69536072e-03 1.17347152e+02] [ 9.00460693e-01 4.34924414e-01 -3.36080632e-03 7.16413591e+01] [ 3.76364883e-03 -6.49200596e-05 9.99992915e-01 5.10657616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.320888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:117.36, Y:71.67, Z:0.51 [[ 4.35008156e-01 -9.00424918e-01 -1.69443264e-03 1.17359690e+02] [ 9.00418647e-01 4.35011451e-01 -3.36127417e-03 7.16659699e+01] [ 3.76367262e-03 -6.35170687e-05 9.99992915e-01 5.11045420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.350888479 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:117.37, Y:71.69, Z:0.51 [[ 4.35165997e-01 -9.00348648e-01 -1.69348628e-03 1.17372166e+02] [ 9.00342374e-01 4.35169287e-01 -3.36175091e-03 7.16907478e+01] [ 3.76370110e-03 -6.17977719e-05 9.99992915e-01 5.10822146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.380888479 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:117.39, Y:71.71, Z:0.51 [[ 4.36147167e-01 -8.99873760e-01 -1.69253618e-03 1.17385196e+02] [ 8.99867481e-01 4.36150448e-01 -3.36222918e-03 7.17145022e+01] [ 3.76378223e-03 -5.66315357e-05 9.99992915e-01 5.11280224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.410888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:117.40, Y:71.74, Z:0.51 [[ 4.36651417e-01 -8.99629189e-01 -1.69168432e-03 1.17398589e+02] [ 8.99622906e-01 4.36654691e-01 -3.36265774e-03 7.17397361e+01] [ 3.76382695e-03 -5.35686988e-05 9.99992915e-01 5.11709738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.440888479 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:117.41, Y:71.76, Z:0.51 [[ 4.36975282e-01 -8.99471925e-01 -1.69074708e-03 1.17411655e+02] [ 8.99465639e-01 4.36978550e-01 -3.36312891e-03 7.17648697e+01] [ 3.76386025e-03 -5.11646943e-05 9.99992915e-01 5.11980528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.470888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:117.42, Y:71.79, Z:0.51 [[ 4.38357680e-01 -8.98799026e-01 -1.68978931e-03 1.17424619e+02] [ 8.98792733e-01 4.38360934e-01 -3.36361007e-03 7.17886253e+01] [ 3.76394708e-03 -4.43060473e-05 9.99992915e-01 5.12410464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50088847899997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:117.44, Y:71.81, Z:0.51 [[ 4.38783831e-01 -8.98591062e-01 -1.68892059e-03 1.17437686e+02] [ 8.98584766e-01 4.38787080e-01 -3.36404621e-03 7.18139132e+01] [ 3.76397839e-03 -4.15492286e-05 9.99992915e-01 5.12772828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53088847899997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:117.45, Y:71.84, Z:0.51 [[ 4.39596382e-01 -8.98193839e-01 -1.68797977e-03 1.17450346e+02] [ 8.98187538e-01 4.39599621e-01 -3.36451822e-03 7.18384338e+01] [ 3.76402481e-03 -3.70923551e-05 9.99992915e-01 5.11711859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56088847899997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:117.46, Y:71.86, Z:0.51 [[ 4.41171075e-01 -8.97421446e-01 -1.68260219e-03 1.17464468e+02] [ 8.97415129e-01 4.41174283e-01 -3.36721405e-03 7.18642218e+01] [ 3.76413092e-03 -2.44752158e-05 9.99992915e-01 5.13306508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59088847899997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:117.48, Y:71.89, Z:0.51 [[ 4.42266598e-01 -8.96882050e-01 -1.68628832e-03 1.17477543e+02] [ 8.96875737e-01 4.42269812e-01 -3.36536704e-03 7.18877254e+01] [ 3.76413171e-03 -2.40016495e-05 9.99992915e-01 5.14132735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:117.49, Y:71.91, Z:0.52 [[ 4.43312576e-01 -8.96365505e-01 -1.68544038e-03 1.17491364e+02] [ 8.96359186e-01 4.43315779e-01 -3.36579165e-03 7.19122282e+01] [ 3.76416185e-03 -1.86622027e-05 9.99992915e-01 5.15182293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65088847899997 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:117.50, Y:71.94, Z:0.52 [[ 4.44301796e-01 -8.95875592e-01 -1.68451514e-03 1.17504597e+02] [ 8.95869268e-01 4.44304989e-01 -3.36625466e-03 7.19359352e+01] [ 3.76418386e-03 -1.34723524e-05 9.99992915e-01 5.15674335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68088847899998 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:117.52, Y:71.96, Z:0.52 [[ 4.47859478e-01 -8.94102373e-01 -1.68368234e-03 1.17518052e+02] [ 8.94096035e-01 4.47862642e-01 -3.36667114e-03 7.19600788e+01] [ 3.76420708e-03 2.42186839e-06 9.99992915e-01 5.16244572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71088847899998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:117.53, Y:71.98, Z:0.52 [[ 4.50682311e-01 -8.92682823e-01 -1.68273724e-03 1.17530319e+02] [ 8.92676473e-01 4.50685452e-01 -3.36714346e-03 7.19846989e+01] [ 3.76417632e-03 1.53720530e-05 9.99992915e-01 5.15710963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74088847899998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:117.54, Y:72.01, Z:0.51 [[ 4.52722678e-01 -8.91649805e-01 -1.67366563e-03 1.17543268e+02] [ 8.91643431e-01 4.52725771e-01 -3.37167403e-03 7.20102292e+01] [ 3.76406406e-03 3.41203309e-05 9.99992915e-01 5.14736939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77088847899998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:117.56, Y:72.04, Z:0.51 [[ 4.57488633e-01 -8.89213880e-01 -1.68149503e-03 1.17556643e+02] [ 8.89207503e-01 4.57491720e-01 -3.36776488e-03 7.20354954e+01] [ 3.76393333e-03 4.55161546e-05 9.99992915e-01 5.12819597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80088847899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:117.57, Y:72.06, Z:0.51 [[ 4.59800034e-01 -8.88020888e-01 -1.68259531e-03 1.17570066e+02] [ 8.88014506e-01 4.59803110e-01 -3.36721572e-03 7.20606544e+01] [ 3.76382045e-03 5.40768597e-05 9.99992915e-01 5.11969742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83088847899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:117.58, Y:72.09, Z:0.51 [[ 4.61342959e-01 -8.87220292e-01 -1.68158907e-03 1.17583259e+02] [ 8.87213903e-01 4.61346020e-01 -3.36771756e-03 7.20855218e+01] [ 3.76370178e-03 6.17435825e-05 9.99992915e-01 5.10633594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:72.11, Z:0.51 [[ 4.65164647e-01 -8.85222570e-01 -1.68885045e-03 1.17597807e+02] [ 8.85216181e-01 4.65167707e-01 -3.36409630e-03 7.21079288e+01] [ 3.76357266e-03 6.98609170e-05 9.99992915e-01 5.06896172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89088847899998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:117.61, Y:72.13, Z:0.51 [[ 4.66036627e-01 -8.84763834e-01 -1.67937868e-03 1.17610107e+02] [ 8.84757424e-01 4.66039645e-01 -3.36881552e-03 7.21337504e+01] [ 3.76326318e-03 8.41486654e-05 9.99992915e-01 5.12559844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.62, Y:72.16, Z:0.51 [[ 4.65727366e-01 -8.84926662e-01 -1.68030707e-03 1.17622708e+02] [ 8.84920255e-01 4.65730390e-01 -3.36835327e-03 7.21584108e+01] [ 3.76331568e-03 8.17965329e-05 9.99992915e-01 5.12147498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95088847899999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:117.64, Y:72.18, Z:0.51 [[ 4.65363935e-01 -8.85117826e-01 -1.68571235e-03 1.17635628e+02] [ 8.85111430e-01 4.65366983e-01 -3.36566415e-03 7.21825243e+01] [ 3.76348421e-03 7.42154469e-05 9.99992915e-01 5.12297502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:117.65, Y:72.20, Z:0.51 [[ 4.65962189e-01 -8.84803027e-01 -1.68595475e-03 1.17650710e+02] [ 8.84796629e-01 4.65965233e-01 -3.36554367e-03 7.22045707e+01] [ 3.76343952e-03 7.64890212e-05 9.99992915e-01 5.12993418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:117.67, Y:72.23, Z:0.51 [[ 4.64800273e-01 -8.85413974e-01 -1.67357824e-03 1.17665426e+02] [ 8.85407558e-01 4.64803278e-01 -3.37168690e-03 7.22301991e+01] [ 3.76322335e-03 8.53621701e-05 9.99992915e-01 5.14724864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:72.25, Z:0.51 [[ 4.63392747e-01 -8.86151422e-01 -1.67894431e-03 1.17679350e+02] [ 8.86145021e-01 4.63395783e-01 -3.36902597e-03 7.22541664e+01] [ 3.76348286e-03 7.33940551e-05 9.99992915e-01 5.11263776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:72.28, Z:0.51 [[ 4.63379353e-01 -8.86158434e-01 -1.67461394e-03 1.17692585e+02] [ 8.86152025e-01 4.63382372e-01 -3.37117149e-03 7.22782568e+01] [ 3.76337863e-03 7.81687305e-05 9.99992915e-01 5.14292039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:72.30, Z:0.51 [[ 4.61587008e-01 -8.87093368e-01 -1.67039035e-03 1.17706473e+02] [ 8.87086958e-01 4.61590024e-01 -3.37326295e-03 7.23018106e+01] [ 3.76343471e-03 7.52728575e-05 9.99992915e-01 5.13146170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:72.33, Z:0.51 [[ 4.60659503e-01 -8.87575368e-01 -1.66974905e-03 1.17719661e+02] [ 8.87568960e-01 4.60662524e-01 -3.37358036e-03 7.23263211e+01] [ 3.76349764e-03 7.20544234e-05 9.99992915e-01 5.12111846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:72.35, Z:0.51 [[ 4.57862147e-01 -8.89021636e-01 -1.66880979e-03 1.17731092e+02] [ 8.89015236e-01 4.57865184e-01 -3.37404492e-03 7.23504440e+01] [ 3.76368884e-03 6.12501238e-05 9.99992915e-01 5.06888208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:72.37, Z:0.51 [[ 4.57155222e-01 -8.89385394e-01 -1.65068958e-03 1.17746748e+02] [ 8.89378963e-01 4.57158195e-01 -3.38298919e-03 7.23748579e+01] [ 3.76340745e-03 7.84625847e-05 9.99992915e-01 5.09164324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.220888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:117.76, Y:72.40, Z:0.51 [[ 4.57202051e-01 -8.89361293e-01 -1.66596397e-03 1.17760055e+02] [ 8.89354889e-01 4.57205082e-01 -3.37545047e-03 7.23974859e+01] [ 3.76368219e-03 6.16296750e-05 9.99992915e-01 5.08066727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:72.42, Z:0.51 [[ 4.54087257e-01 -8.90955694e-01 -1.64749576e-03 1.17774897e+02] [ 8.90949268e-01 4.54090241e-01 -3.38455539e-03 7.24242468e+01] [ 3.76360064e-03 6.90483334e-05 9.99992915e-01 5.09595748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:72.45, Z:0.51 [[ 4.53080547e-01 -8.91468030e-01 -1.66407085e-03 1.17788711e+02] [ 8.91461637e-01 4.53083601e-01 -3.37638626e-03 7.24484208e+01] [ 3.76390362e-03 4.63196073e-05 9.99992915e-01 5.10784627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:72.47, Z:0.51 [[ 4.48972845e-01 -8.93543861e-01 -1.65897698e-03 1.17802989e+02] [ 8.93537473e-01 4.48975909e-01 -3.37889538e-03 7.24723659e+01] [ 3.76403193e-03 3.46741718e-05 9.99992915e-01 5.10606589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34088847899997 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:117.82, Y:72.50, Z:0.51 [[ 4.48048773e-01 -8.94007568e-01 -1.66292198e-03 1.17815326e+02] [ 8.94001191e-01 4.48051858e-01 -3.37695274e-03 7.24951800e+01] [ 3.76409659e-03 2.63853030e-05 9.99992915e-01 5.11534033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:72.52, Z:0.51 [[ 4.45179375e-01 -8.95439897e-01 -1.64769174e-03 1.17828649e+02] [ 8.95433502e-01 4.45182423e-01 -3.38444803e-03 7.25208864e+01] [ 3.76409320e-03 3.12880760e-05 9.99992915e-01 5.11445355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:72.55, Z:0.51 [[ 4.43178099e-01 -8.96432045e-01 -1.66188707e-03 1.17842156e+02] [ 8.96425682e-01 4.43181215e-01 -3.37746319e-03 7.25460457e+01] [ 3.76418336e-03 7.05946877e-06 9.99992915e-01 5.12208148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:72.57, Z:0.51 [[ 4.40946882e-01 -8.97531665e-01 -1.66092971e-03 1.17855956e+02] [ 8.97525308e-01 4.40950010e-01 -3.37793392e-03 7.25698422e+01] [ 3.76418963e-03 -1.23702221e-06 9.99992915e-01 5.12924239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:72.60, Z:0.51 [[ 4.38737346e-01 -8.98613827e-01 -1.65260398e-03 1.17868462e+02] [ 8.98607463e-01 4.38740458e-01 -3.38202417e-03 7.25955907e+01] [ 3.76419791e-03 -1.22196106e-06 9.99992915e-01 5.12611668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:72.62, Z:0.51 [[ 4.37535898e-01 -8.99199416e-01 -1.65767096e-03 1.17880239e+02] [ 8.99193065e-01 4.37539038e-01 -3.37953622e-03 7.26202770e+01] [ 3.76417275e-03 -1.18978206e-05 9.99992915e-01 5.12998594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52088847899998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:117.89, Y:72.65, Z:0.51 [[ 4.35508435e-01 -9.00183125e-01 -1.65673952e-03 1.17891108e+02] [ 9.00176779e-01 4.35511586e-01 -3.37999314e-03 7.26450167e+01] [ 3.76414204e-03 -1.93429158e-05 9.99992915e-01 5.12992713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55088847899998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:117.90, Y:72.67, Z:0.51 [[ 4.34084106e-01 -9.00870833e-01 -1.65269463e-03 1.17903068e+02] [ 9.00864485e-01 4.34087252e-01 -3.38197612e-03 7.26701252e+01] [ 3.76413731e-03 -2.07918197e-05 9.99992915e-01 5.12505291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58088847899998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:117.91, Y:72.69, Z:0.51 [[ 4.33725413e-01 -9.01043573e-01 -1.65688063e-03 1.17914555e+02] [ 9.01037234e-01 4.33728577e-01 -3.37992532e-03 7.26941698e+01] [ 3.76409646e-03 -2.69516359e-05 9.99992915e-01 5.12057612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:72.72, Z:0.51 [[ 4.32810970e-01 -9.01483199e-01 -1.64501532e-03 1.17926444e+02] [ 9.01476841e-01 4.32814096e-01 -3.38573331e-03 7.27200229e+01] [ 3.76416752e-03 -1.75606978e-05 9.99992915e-01 5.12224417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64088847899998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:117.94, Y:72.74, Z:0.51 [[ 4.32221087e-01 -9.01766162e-01 -1.64971351e-03 1.17935984e+02] [ 9.01759815e-01 4.32224234e-01 -3.38343523e-03 7.27442538e+01] [ 3.76411356e-03 -2.52533002e-05 9.99992915e-01 5.12450075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:117.95, Y:72.77, Z:0.51 [[ 4.32540437e-01 -9.01613037e-01 -1.64372761e-03 1.17947309e+02] [ 9.01606678e-01 4.32543559e-01 -3.38635957e-03 7.27689547e+01] [ 3.76416973e-03 -1.72583446e-05 9.99992915e-01 5.12242816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:72.79, Z:0.51 [[ 4.29771108e-01 -9.02936382e-01 -1.63838289e-03 1.17953535e+02] [ 9.02930023e-01 4.29774231e-01 -3.38897147e-03 7.27907664e+01] [ 3.76416039e-03 -2.28630772e-05 9.99992915e-01 5.09607885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:72.82, Z:0.51 [[ 4.32483723e-01 -9.01640337e-01 -1.59123218e-03 1.17970108e+02] [ 9.01633882e-01 4.32486648e-01 -3.41198824e-03 7.28190055e+01] [ 3.76457290e-03 4.09205290e-05 9.99992913e-01 5.13268866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:117.98, Y:72.85, Z:0.51 [[ 4.32132222e-01 -9.01808776e-01 -1.63519880e-03 1.17980168e+02] [ 9.01802402e-01 4.32135316e-01 -3.39051924e-03 7.28457349e+01] [ 3.76422715e-03 -9.47359381e-06 9.99992915e-01 5.13485260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:72.87, Z:0.51 [[ 4.31644449e-01 -9.02042353e-01 -1.63190541e-03 1.17991003e+02] [ 9.02035975e-01 4.31647533e-01 -3.39212722e-03 7.28710943e+01] [ 3.76425036e-03 -7.84450087e-06 9.99992915e-01 5.13254120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.820888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.00, Y:72.90, Z:0.51 [[ 4.31695719e-01 -9.02017821e-01 -1.63007628e-03 1.18002761e+02] [ 9.02011439e-01 4.31698797e-01 -3.39301972e-03 7.28969599e+01] [ 3.76426622e-03 -5.59536636e-06 9.99992915e-01 5.13498222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.850888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.01, Y:72.92, Z:0.51 [[ 4.31617809e-01 -9.02055089e-01 -1.63779368e-03 1.18014046e+02] [ 9.02048722e-01 4.31620917e-01 -3.38925158e-03 7.29219881e+01] [ 3.76419764e-03 -1.45083524e-05 9.99992915e-01 5.13767637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:72.95, Z:0.52 [[ 4.30207549e-01 -9.02728524e-01 -1.63593772e-03 1.18026108e+02] [ 9.02722159e-01 4.30210659e-01 -3.39015723e-03 7.29490574e+01] [ 3.76418948e-03 -1.83259954e-05 9.99992915e-01 5.15021174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:72.97, Z:0.52 [[ 4.29959530e-01 -9.02846653e-01 -1.65050817e-03 1.18038588e+02] [ 9.02840315e-01 4.29962697e-01 -3.38304865e-03 7.29747901e+01] [ 3.76403110e-03 -3.55713093e-05 9.99992915e-01 5.15135662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.940888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:118.05, Y:73.00, Z:0.52 [[ 4.31185235e-01 -9.02261920e-01 -1.64957863e-03 1.18048836e+02] [ 9.02255576e-01 4.31188389e-01 -3.38350184e-03 7.29972610e+01] [ 3.76408402e-03 -2.94254865e-05 9.99992915e-01 5.15513561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.970888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:118.05, Y:73.02, Z:0.52 [[ 4.26481294e-01 -9.04494910e-01 -1.63210722e-03 1.18047942e+02] [ 9.04488550e-01 4.26484416e-01 -3.39201043e-03 7.30154215e+01] [ 3.76412446e-03 -2.95932985e-05 9.99992915e-01 5.15728044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.07, Y:73.05, Z:0.52 [[ 4.35004453e-01 -9.00426975e-01 -1.54530044e-03 1.18068501e+02] [ 9.00420431e-01 4.35007186e-01 -3.43435242e-03 7.30465710e+01] [ 3.76460036e-03 1.02538508e-04 9.99992909e-01 5.15585292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03088847899997 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:118.08, Y:73.07, Z:0.52 [[ 4.36349527e-01 -8.99775766e-01 -1.63140118e-03 1.18079480e+02] [ 8.99769371e-01 4.36352576e-01 -3.39228248e-03 7.30724996e+01] [ 3.76415967e-03 1.23360384e-05 9.99992915e-01 5.15499358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06088847899997 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:118.09, Y:73.10, Z:0.51 [[ 4.37952302e-01 -8.98996725e-01 -1.63357191e-03 1.18090720e+02] [ 8.98990329e-01 4.37955349e-01 -3.39122213e-03 7.30980761e+01] [ 3.76412915e-03 1.66281905e-05 9.99992916e-01 5.14712440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:118.09, Y:73.12, Z:0.51 [[ 4.34130545e-01 -9.00848490e-01 -1.63341497e-03 1.18091453e+02] [ 9.00842107e-01 4.34133618e-01 -3.39129874e-03 7.31170166e+01] [ 3.76416670e-03 8.17385663e-07 9.99992916e-01 5.08321876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:73.15, Z:0.51 [[ 4.41889648e-01 -8.97068093e-01 -1.54132311e-03 1.18112257e+02] [ 8.97061522e-01 4.41892315e-01 -3.43608165e-03 7.31469974e+01] [ 3.76349805e-03 1.35707254e-04 9.99992909e-01 5.13184650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:73.18, Z:0.51 [[ 4.40576179e-01 -8.97713760e-01 -1.62334644e-03 1.18125379e+02] [ 8.97707337e-01 4.40579167e-01 -3.39612410e-03 7.31750599e+01] [ 3.76395996e-03 3.89613699e-05 9.99992916e-01 5.13343330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:118.13, Y:73.20, Z:0.51 [[ 4.36401349e-01 -8.99750602e-01 -1.64839954e-03 1.18128960e+02] [ 8.99744238e-01 4.36404462e-01 -3.38392005e-03 7.31950073e+01] [ 3.76405302e-03 -6.39070988e-06 9.99992916e-01 5.08534352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.15, Y:73.22, Z:0.51 [[ 4.39460611e-01 -8.98260467e-01 -1.58284598e-03 1.18146084e+02] [ 8.98253976e-01 4.39463455e-01 -3.41572222e-03 7.32229298e+01] [ 3.76381120e-03 7.92776768e-05 9.99992914e-01 5.12642272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.16, Y:73.25, Z:0.51 [[ 4.38064451e-01 -8.98942095e-01 -1.62693431e-03 1.18157850e+02] [ 8.98935687e-01 4.38067471e-01 -3.39431952e-03 7.32461095e+01] [ 3.76400370e-03 2.44214076e-05 9.99992916e-01 5.14507929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:118.17, Y:73.27, Z:0.52 [[ 4.36673212e-01 -8.99618752e-01 -1.61461285e-03 1.18170721e+02] [ 8.99612326e-01 4.36676196e-01 -3.40029281e-03 7.32717288e+01] [ 3.76403017e-03 3.22911588e-05 9.99992915e-01 5.15073734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:118.19, Y:73.30, Z:0.51 [[ 4.36308119e-01 -8.99795853e-01 -1.62745980e-03 1.18189048e+02] [ 8.99789452e-01 4.36311154e-01 -3.39405366e-03 7.33003615e+01] [ 3.76403427e-03 1.64820058e-05 9.99992916e-01 5.13989409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33088847899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:118.20, Y:73.32, Z:0.52 [[ 4.33995168e-01 -9.00913625e-01 -1.68369518e-03 1.18195816e+02] [ 9.00907336e-01 4.33998431e-01 -3.36671827e-03 7.33217073e+01] [ 3.76384343e-03 -5.57138723e-05 9.99992915e-01 5.15635271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36088847899998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:118.20, Y:73.34, Z:0.51 [[ 4.28227147e-01 -9.03669656e-01 -1.63188878e-03 1.18199658e+02] [ 9.03663291e-01 4.28230256e-01 -3.39183949e-03 7.33398811e+01] [ 3.76392657e-03 -2.22002394e-05 9.99992916e-01 5.12538616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39088847899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:118.22, Y:73.37, Z:0.52 [[ 4.32507685e-01 -9.01628902e-01 -1.55759400e-03 1.18219597e+02] [ 9.01622389e-01 4.32510482e-01 -3.42787034e-03 7.33697787e+01] [ 3.76434270e-03 7.82186452e-05 9.99992912e-01 5.16165533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:118.23, Y:73.40, Z:0.52 [[ 4.31111205e-01 -9.02297338e-01 -1.62588491e-03 1.18232554e+02] [ 9.02290952e-01 4.31114271e-01 -3.39470657e-03 7.33952159e+01] [ 3.76397689e-03 -3.52520360e-06 9.99992916e-01 5.15311038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.25, Y:73.42, Z:0.52 [[ 4.29622567e-01 -9.03007077e-01 -1.63343606e-03 1.18245312e+02] [ 9.03000710e-01 4.29625672e-01 -3.39104061e-03 7.34217198e+01] [ 3.76389974e-03 -1.81263512e-05 9.99992916e-01 5.15134027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.25, Y:73.44, Z:0.51 [[ 4.24941314e-01 -9.05219409e-01 -1.64328115e-03 1.18250258e+02] [ 9.05213077e-01 4.24944489e-01 -3.38626300e-03 7.34422464e+01] [ 3.76361426e-03 -4.85565346e-05 9.99992916e-01 5.10121947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:118.27, Y:73.47, Z:0.51 [[ 4.29755999e-01 -9.02943696e-01 -1.56930757e-03 1.18270012e+02] [ 9.02937213e-01 4.29758861e-01 -3.42209698e-03 7.34723739e+01] [ 3.76438473e-03 5.36805019e-05 9.99992913e-01 5.14127300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:118.28, Y:73.50, Z:0.51 [[ 4.29886813e-01 -9.02881293e-01 -1.64301637e-03 1.18282105e+02] [ 9.02874943e-01 4.29889952e-01 -3.38633420e-03 7.34972618e+01] [ 3.76377403e-03 -2.76978971e-05 9.99992917e-01 5.14223158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.570888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:118.29, Y:73.52, Z:0.51 [[ 4.30787344e-01 -9.02451975e-01 -1.64206749e-03 1.18293589e+02] [ 9.02445620e-01 4.30790473e-01 -3.38679426e-03 7.35213810e+01] [ 3.76380620e-03 -2.28885042e-05 9.99992917e-01 5.13998045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.600888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:118.31, Y:73.55, Z:0.51 [[ 4.30957817e-01 -9.02370581e-01 -1.64142284e-03 1.18305465e+02] [ 9.02364225e-01 4.30960942e-01 -3.38710666e-03 7.35471560e+01] [ 3.76381454e-03 -2.14611587e-05 9.99992917e-01 5.14142320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.630888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:118.32, Y:73.57, Z:0.51 [[ 4.31597113e-01 -9.02064987e-01 -1.64049341e-03 1.18317536e+02] [ 9.02058626e-01 4.31600231e-01 -3.38755676e-03 7.35728958e+01] [ 3.76383368e-03 -1.77615125e-05 9.99992917e-01 5.13731026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.660888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.32, Y:73.59, Z:0.51 [[ 4.28963128e-01 -9.03320511e-01 -1.63990967e-03 1.18322495e+02] [ 9.03314158e-01 4.28966262e-01 -3.38783932e-03 7.35926048e+01] [ 3.76377067e-03 -2.80954694e-05 9.99992917e-01 5.10507751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.690888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:118.34, Y:73.62, Z:0.52 [[ 4.33374519e-01 -9.01212548e-01 -1.57153912e-03 1.18342498e+02] [ 9.01206058e-01 4.33377363e-01 -3.42091258e-03 7.36230028e+01] [ 3.76403882e-03 6.62557701e-05 9.99992914e-01 5.15391120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.720888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.35, Y:73.64, Z:0.51 [[ 4.28635958e-01 -9.03475801e-01 -1.64086365e-03 1.18346000e+02] [ 9.03469451e-01 4.28639098e-01 -3.38733095e-03 7.36417783e+01] [ 3.76370986e-03 -3.05383351e-05 9.99992917e-01 5.12015927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:73.67, Z:0.51 [[ 4.30535000e-01 -9.02572554e-01 -1.54861029e-03 1.18361115e+02] [ 9.02566033e-01 4.30537778e-01 -3.43193350e-03 7.36704454e+01] [ 3.76430422e-03 7.98444467e-05 9.99992912e-01 5.12270017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78088847899997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:118.38, Y:73.70, Z:0.52 [[ 4.34894397e-01 -9.00480063e-01 -1.58714116e-03 1.18378333e+02] [ 9.00473596e-01 4.34897290e-01 -3.41329967e-03 7.36991321e+01] [ 3.76385169e-03 5.52461984e-05 9.99992915e-01 5.17558262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:73.72, Z:0.51 [[ 4.29308397e-01 -9.03156471e-01 -1.64004479e-03 1.18380713e+02] [ 9.03150118e-01 4.29311529e-01 -3.38768801e-03 7.37189898e+01] [ 3.76370248e-03 -2.68437404e-05 9.99992917e-01 5.12749238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:118.40, Y:73.75, Z:0.52 [[ 4.35625048e-01 -9.00126884e-01 -1.55259028e-03 1.18401253e+02] [ 9.00120354e-01 4.35627804e-01 -3.42994307e-03 7.37493861e+01] [ 3.76373546e-03 9.66509996e-05 9.99992912e-01 5.17647549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:118.41, Y:73.77, Z:0.52 [[ 4.36061539e-01 -8.99915354e-01 -1.63973368e-03 1.18412184e+02] [ 8.99908978e-01 4.36064622e-01 -3.38776425e-03 7.37739455e+01] [ 3.76373091e-03 1.66262894e-06 9.99992917e-01 5.17619375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.42, Y:73.80, Z:0.52 [[ 4.37182602e-01 -8.99371273e-01 -1.63876598e-03 1.18424268e+02] [ 8.99364891e-01 4.37185673e-01 -3.38823229e-03 7.37994046e+01] [ 3.76372380e-03 7.42762509e-06 9.99992917e-01 5.19158696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.44, Y:73.83, Z:0.52 [[ 4.37174741e-01 -8.99375096e-01 -1.63782717e-03 1.18436333e+02] [ 8.99368712e-01 4.37177809e-01 -3.38868604e-03 7.38252310e+01] [ 3.76372152e-03 8.43742478e-06 9.99992917e-01 5.19899371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.46, Y:73.85, Z:0.52 [[ 4.40440168e-01 -8.97780474e-01 -1.63686794e-03 1.18455798e+02] [ 8.97774077e-01 4.40443210e-01 -3.38914932e-03 7.38548157e+01] [ 3.76365945e-03 2.31798964e-05 9.99992917e-01 5.18527251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.46, Y:73.88, Z:0.52 [[ 4.37580047e-01 -8.99177838e-01 -1.70838262e-03 1.18458310e+02] [ 8.99171583e-01 4.37583377e-01 -3.35455762e-03 7.38766506e+01] [ 3.76390370e-03 -6.82416185e-05 9.99992914e-01 5.18987024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.47, Y:73.90, Z:0.52 [[ 4.37734136e-01 -8.99102970e-01 -1.63546807e-03 1.18467910e+02] [ 8.99096580e-01 4.37737191e-01 -3.38973718e-03 7.39030799e+01] [ 3.76362797e-03 1.33599236e-05 9.99992917e-01 5.17438482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.48, Y:73.93, Z:0.52 [[ 4.37485812e-01 -8.99223828e-01 -1.63449986e-03 1.18479873e+02] [ 8.99217437e-01 4.37488865e-01 -3.39020398e-03 7.39288213e+01] [ 3.76362769e-03 1.33953638e-05 9.99992917e-01 5.17021101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.49, Y:73.95, Z:0.52 [[ 4.36070474e-01 -8.99911036e-01 -1.63354255e-03 1.18491538e+02] [ 8.99904649e-01 4.36073534e-01 -3.39066519e-03 7.39536989e+01] [ 3.76364169e-03 8.53644521e-06 9.99992917e-01 5.16033102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11088847899998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:118.50, Y:73.98, Z:0.52 [[ 4.34996074e-01 -9.00430869e-01 -1.63268459e-03 1.18503824e+02] [ 9.00424484e-01 4.34999138e-01 -3.39107826e-03 7.39789496e+01] [ 3.76364794e-03 4.99655251e-06 9.99992917e-01 5.16753582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14088847899998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.52, Y:74.00, Z:0.52 [[ 4.33313336e-01 -9.01241860e-01 -1.63179859e-03 1.18515870e+02] [ 9.01235479e-01 4.33316408e-01 -3.39150456e-03 7.40048279e+01] [ 3.76365098e-03 -1.05063248e-06 9.99992917e-01 5.18492128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:118.53, Y:74.03, Z:0.52 [[ 4.31974018e-01 -9.01884576e-01 -1.63084953e-03 1.18527211e+02] [ 9.01878197e-01 4.31977097e-01 -3.39196086e-03 7.40293055e+01] [ 3.76364683e-03 -5.58866646e-06 9.99992917e-01 5.17428312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20088847899999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:118.54, Y:74.05, Z:0.52 [[ 4.29384616e-01 -9.03120255e-01 -1.62999300e-03 1.18538793e+02] [ 9.03113883e-01 4.29387710e-01 -3.39237241e-03 7.40544977e+01] [ 3.76361920e-03 -1.54367817e-05 9.99992917e-01 5.19497851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:118.55, Y:74.08, Z:0.52 [[ 4.24793761e-01 -9.05288687e-01 -1.62903789e-03 1.18546024e+02] [ 9.05282330e-01 4.24796883e-01 -3.39283100e-03 7.40774153e+01] [ 3.76350174e-03 -3.34857714e-05 9.99992917e-01 5.15427083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260888479 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:118.56, Y:74.10, Z:0.52 [[ 4.27054762e-01 -9.04224372e-01 -1.58592990e-03 1.18563100e+02] [ 9.04217929e-01 4.27057706e-01 -3.41350171e-03 7.41043224e+01] [ 3.76385502e-03 2.37259052e-05 9.99992916e-01 5.20334814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290888479 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:118.57, Y:74.13, Z:0.52 [[ 4.25608703e-01 -9.04905840e-01 -1.62840675e-03 1.18574946e+02] [ 9.04899479e-01 4.25611817e-01 -3.39311645e-03 7.41292304e+01] [ 3.76352004e-03 -2.94045273e-05 9.99992918e-01 5.20481119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.320888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:118.59, Y:74.15, Z:0.52 [[ 4.22870057e-01 -9.06188869e-01 -1.62753440e-03 1.18587273e+02] [ 9.06182516e-01 4.22873187e-01 -3.39353482e-03 7.41547512e+01] [ 3.76342414e-03 -3.98189515e-05 9.99992918e-01 5.21307703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.350888479 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:118.60, Y:74.18, Z:0.52 [[ 4.21611860e-01 -9.06774941e-01 -1.62658326e-03 1.18599497e+02] [ 9.06768590e-01 4.21614995e-01 -3.39399066e-03 7.41805852e+01] [ 3.76337757e-03 -4.39878962e-05 9.99992918e-01 5.21315138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.380888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:118.61, Y:74.21, Z:0.52 [[ 4.20130725e-01 -9.07462138e-01 -1.62563888e-03 1.18612517e+02] [ 9.07455791e-01 4.20133867e-01 -3.39444293e-03 7.42080325e+01] [ 3.76331439e-03 -4.90856502e-05 9.99992918e-01 5.22329147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.410888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:118.62, Y:74.23, Z:0.52 [[ 4.19285447e-01 -9.07852981e-01 -1.63676398e-03 1.18621697e+02] [ 9.07846657e-01 4.19288637e-01 -3.38911756e-03 7.42322591e+01] [ 3.76309701e-03 -6.49230361e-05 9.99992917e-01 5.20543363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.440888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:118.63, Y:74.26, Z:0.52 [[ 4.18642683e-01 -9.08149584e-01 -1.62365519e-03 1.18634038e+02] [ 9.08143239e-01 4.18645828e-01 -3.39538611e-03 7.42584932e+01] [ 3.76325495e-03 -5.30579361e-05 9.99992918e-01 5.21391748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.470888479 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:118.64, Y:74.28, Z:0.52 [[ 4.19886309e-01 -9.07575243e-01 -1.63250264e-03 1.18643725e+02] [ 9.07568910e-01 4.19889479e-01 -3.39115673e-03 7.42829847e+01] [ 3.76320058e-03 -5.77083544e-05 9.99992917e-01 5.20578856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50088847899997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.65, Y:74.31, Z:0.52 [[ 4.20322601e-01 -9.07373285e-01 -1.62228354e-03 1.18654375e+02] [ 9.07366931e-01 4.20325730e-01 -3.39603838e-03 7.43073780e+01] [ 3.76336202e-03 -4.45747514e-05 9.99992918e-01 5.20341753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53088847899997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:118.67, Y:74.33, Z:0.52 [[ 4.21230337e-01 -9.06952245e-01 -1.62143711e-03 1.18665582e+02] [ 9.06945886e-01 4.21233456e-01 -3.39644246e-03 7.43330067e+01] [ 3.76341467e-03 -3.98711131e-05 9.99992918e-01 5.20976712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.68, Y:74.36, Z:0.52 [[ 4.21946782e-01 -9.06619152e-01 -1.62048874e-03 1.18678190e+02] [ 9.06612789e-01 4.21949892e-01 -3.39689489e-03 7.43602626e+01] [ 3.76345501e-03 -3.58469461e-05 9.99992918e-01 5.22233058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.69, Y:74.39, Z:0.52 [[ 4.24591154e-01 -9.05383722e-01 -1.63323089e-03 1.18686394e+02] [ 9.05377373e-01 4.24594294e-01 -3.39081581e-03 7.43852065e+01] [ 3.76344995e-03 -3.89798976e-05 9.99992917e-01 5.21395487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.70, Y:74.41, Z:0.52 [[ 4.25890863e-01 -9.04773094e-01 -1.61923738e-03 1.18697861e+02] [ 9.04766715e-01 4.25893940e-01 -3.39748510e-03 7.44109072e+01] [ 3.76357649e-03 -1.80742207e-05 9.99992918e-01 5.22274640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65088847899997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:118.71, Y:74.44, Z:0.52 [[ 4.27664809e-01 -9.03935945e-01 -1.61830142e-03 1.18709472e+02] [ 9.03929558e-01 4.27667871e-01 -3.39793086e-03 7.44355911e+01] [ 3.76360736e-03 -9.65503147e-06 9.99992918e-01 5.22723610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68088847899998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:118.72, Y:74.46, Z:0.52 [[ 4.31493333e-01 -9.02114675e-01 -1.61731483e-03 1.18721819e+02] [ 9.02108274e-01 4.31496364e-01 -3.39840038e-03 7.44619468e+01] [ 3.76361233e-03 7.39402389e-06 9.99992918e-01 5.24058822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:118.73, Y:74.49, Z:0.52 [[ 4.33562479e-01 -9.01122049e-01 -1.62141669e-03 1.18733452e+02] [ 9.01115648e-01 4.33565511e-01 -3.39644935e-03 7.44876433e+01] [ 3.76360576e-03 1.14890532e-05 9.99992918e-01 5.23970905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74088847899998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:118.75, Y:74.52, Z:0.52 [[ 4.37775631e-01 -8.99082803e-01 -1.61547299e-03 1.18750812e+02] [ 8.99076378e-01 4.37778611e-01 -3.39927404e-03 7.45162701e+01] [ 3.76344835e-03 3.56857399e-05 9.99992918e-01 5.22904556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77088847899998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.76, Y:74.54, Z:0.52 [[ 4.36407647e-01 -8.99747520e-01 -1.66312215e-03 1.18756272e+02] [ 8.99741184e-01 4.36410815e-01 -3.37660908e-03 7.45393702e+01] [ 3.76390014e-03 -2.28014762e-05 9.99992916e-01 5.22362357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:118.77, Y:74.56, Z:0.52 [[ 4.38709202e-01 -8.98627637e-01 -1.61435720e-03 1.18768347e+02] [ 8.98621207e-01 4.38712170e-01 -3.39976482e-03 7.45648586e+01] [ 3.76336078e-03 4.08124987e-05 9.99992918e-01 5.21737055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:118.78, Y:74.59, Z:0.52 [[ 4.38461926e-01 -8.98748317e-01 -1.61342262e-03 1.18780532e+02] [ 8.98741885e-01 4.38464893e-01 -3.40020829e-03 7.45907215e+01] [ 3.76336065e-03 4.08113872e-05 9.99992918e-01 5.21844251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.79, Y:74.62, Z:0.52 [[ 4.39135150e-01 -8.98419568e-01 -1.61248692e-03 1.18792847e+02] [ 8.98413133e-01 4.39138108e-01 -3.40065197e-03 7.46158168e+01] [ 3.76331673e-03 4.46663916e-05 9.99992918e-01 5.22165602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:118.81, Y:74.64, Z:0.52 [[ 4.39762962e-01 -8.98112432e-01 -1.61152477e-03 1.18805349e+02] [ 8.98105993e-01 4.39765912e-01 -3.40110785e-03 7.46400372e+01] [ 3.76327091e-03 4.83612099e-05 9.99992918e-01 5.21514409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92088847899998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:118.82, Y:74.67, Z:0.52 [[ 4.40053400e-01 -8.97970161e-01 -1.61087192e-03 1.18818868e+02] [ 8.97963721e-01 4.40056345e-01 -3.40141704e-03 7.46650689e+01] [ 3.76324542e-03 5.03005920e-05 9.99992918e-01 5.22208013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95088847899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:118.84, Y:74.69, Z:0.52 [[ 4.41633307e-01 -8.97194199e-01 -1.60992445e-03 1.18836123e+02] [ 8.97187751e-01 4.41636237e-01 -3.40186543e-03 7.46925435e+01] [ 3.76313490e-03 5.79725828e-05 9.99992918e-01 5.24080820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:118.84, Y:74.71, Z:0.52 [[ 4.39895767e-01 -8.98047332e-01 -1.64410637e-03 1.18843572e+02] [ 8.98040950e-01 4.39898839e-01 -3.38568274e-03 7.47149408e+01] [ 3.76374384e-03 1.28726550e-05 9.99992917e-01 5.22696575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:118.86, Y:74.74, Z:0.52 [[ 4.39364770e-01 -8.98307303e-01 -1.60867486e-03 1.18857455e+02] [ 8.98300861e-01 4.39367712e-01 -3.40243480e-03 7.47395457e+01] [ 3.76323182e-03 4.98359752e-05 9.99992918e-01 5.23669559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.87, Y:74.76, Z:0.52 [[ 4.38748429e-01 -8.98608497e-01 -1.60772733e-03 1.18870692e+02] [ 8.98602055e-01 4.38751372e-01 -3.40288247e-03 7.47641137e+01] [ 3.76325167e-03 4.83022541e-05 9.99992918e-01 5.24283738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.070888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:118.88, Y:74.79, Z:0.52 [[ 4.37687515e-01 -8.99125718e-01 -1.60677922e-03 1.18883613e+02] [ 8.99119278e-01 4.37690462e-01 -3.40333009e-03 7.47886335e+01] [ 3.76329355e-03 4.49089171e-05 9.99992918e-01 5.24917268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.100888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:118.90, Y:74.81, Z:0.53 [[ 4.36761395e-01 -8.99575959e-01 -1.60583476e-03 1.18896622e+02] [ 8.99569520e-01 4.36764345e-01 -3.40377567e-03 7.48139436e+01] [ 3.76332613e-03 4.20778063e-05 9.99992918e-01 5.25283928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.130888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:118.91, Y:74.84, Z:0.52 [[ 4.34943065e-01 -9.00456526e-01 -1.60488961e-03 1.18909322e+02] [ 9.00450091e-01 4.34946025e-01 -3.40422125e-03 7.48373374e+01] [ 3.76339360e-03 3.55194320e-05 9.99992918e-01 5.24690787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:74.86, Z:0.52 [[ 4.34099851e-01 -9.00863334e-01 -1.60415532e-03 1.18922284e+02] [ 9.00856901e-01 4.34102813e-01 -3.40456723e-03 7.48627455e+01] [ 3.76341813e-03 3.28077413e-05 9.99992918e-01 5.24886325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.190888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:118.93, Y:74.89, Z:0.52 [[ 4.33283516e-01 -9.01256248e-01 -1.60322164e-03 1.18934810e+02] [ 9.01249816e-01 4.33286481e-01 -3.40500685e-03 7.48875978e+01] [ 3.76343796e-03 3.04301240e-05 9.99992918e-01 5.24508428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.220888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.95, Y:74.91, Z:0.52 [[ 4.32344891e-01 -9.01706897e-01 -1.60228215e-03 1.18946391e+02] [ 9.01700467e-01 4.32347859e-01 -3.40544888e-03 7.49109922e+01] [ 3.76346000e-03 2.75498619e-05 9.99992918e-01 5.23024367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:74.93, Z:0.52 [[ 4.29328161e-01 -9.03147146e-01 -1.60067885e-03 1.18959182e+02] [ 9.03140723e-01 4.29331145e-01 -3.40620265e-03 7.49319539e+01] [ 3.76352349e-03 1.67404635e-05 9.99992918e-01 5.20929241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:118.98, Y:74.96, Z:0.52 [[ 4.32499259e-01 -9.01632927e-01 -1.56696632e-03 1.18982310e+02] [ 9.01626436e-01 4.32502092e-01 -3.42204462e-03 7.49632539e+01] [ 3.76314432e-03 6.72135014e-05 9.99992917e-01 5.23577731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31088847899997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:118.99, Y:74.98, Z:0.53 [[ 4.28697435e-01 -9.03446577e-01 -1.67084273e-03 1.18987929e+02] [ 9.03440282e-01 4.28700687e-01 -3.37312333e-03 7.49840131e+01] [ 3.76372815e-03 -6.34573093e-05 9.99992915e-01 5.25192876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34088847899997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.01, Y:75.01, Z:0.52 [[ 4.30217925e-01 -9.02723643e-01 -1.60026158e-03 1.19009503e+02] [ 9.02717217e-01 4.30220901e-01 -3.40628217e-03 7.50124532e+01] [ 3.76339743e-03 2.08599697e-05 9.99992918e-01 5.24024560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.01, Y:75.03, Z:0.52 [[ 4.26620781e-01 -9.04429059e-01 -1.66929995e-03 1.19014197e+02] [ 9.04422769e-01 4.26624041e-01 -3.37380803e-03 7.50333985e+01] [ 3.76353351e-03 -7.04162615e-05 9.99992915e-01 5.24327589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.03, Y:75.06, Z:0.52 [[ 4.25712691e-01 -9.04856977e-01 -1.59865302e-03 1.19027211e+02] [ 9.04850563e-01 4.25715692e-01 -3.40695783e-03 7.50573452e+01] [ 3.76338124e-03 3.84310038e-06 9.99992918e-01 5.23970864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.04, Y:75.08, Z:0.52 [[ 4.25526401e-01 -9.04944600e-01 -1.59766122e-03 1.19040291e+02] [ 9.04938185e-01 4.25529400e-01 -3.40742286e-03 7.50817207e+01] [ 3.76338074e-03 4.16374068e-06 9.99992918e-01 5.24133523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.05, Y:75.11, Z:0.53 [[ 4.25380069e-01 -9.05013396e-01 -1.59673536e-03 1.19053560e+02] [ 9.05006980e-01 4.25383066e-01 -3.40785667e-03 7.51061756e+01] [ 3.76338012e-03 4.57765722e-06 9.99992918e-01 5.25341899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:75.13, Z:0.53 [[ 4.25269064e-01 -9.05065565e-01 -1.59578460e-03 1.19066410e+02] [ 9.05059147e-01 4.25272058e-01 -3.40830182e-03 7.51301219e+01] [ 3.76337922e-03 5.16587356e-06 9.99992918e-01 5.25497359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.08, Y:75.15, Z:0.53 [[ 4.25759525e-01 -9.04834948e-01 -1.59493276e-03 1.19080637e+02] [ 9.04828527e-01 4.25762513e-01 -3.40870040e-03 7.51548553e+01] [ 3.76337383e-03 8.14600062e-06 9.99992918e-01 5.26683209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:75.18, Z:0.53 [[ 4.26016678e-01 -9.04713905e-01 -1.59399191e-03 1.19093209e+02] [ 9.04707481e-01 4.26019660e-01 -3.40914031e-03 7.51798754e+01] [ 3.76336853e-03 1.02542260e-05 9.99992918e-01 5.27742674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.11, Y:75.20, Z:0.53 [[ 4.26922537e-01 -9.04286796e-01 -1.59302973e-03 1.19106531e+02] [ 9.04280369e-01 4.26925509e-01 -3.40958986e-03 7.52046657e+01] [ 3.76335212e-03 1.50852444e-05 9.99992918e-01 5.29114135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.12, Y:75.23, Z:0.53 [[ 4.27172019e-01 -9.04168973e-01 -1.59209411e-03 1.19119844e+02] [ 9.04162542e-01 4.27174986e-01 -3.41002668e-03 7.52299783e+01] [ 3.76334310e-03 1.71561239e-05 9.99992918e-01 5.29587266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:75.25, Z:0.53 [[ 4.27369542e-01 -9.04075629e-01 -1.59112694e-03 1.19132910e+02] [ 9.04069196e-01 4.27372504e-01 -3.41047791e-03 7.52548659e+01] [ 3.76333386e-03 1.90455232e-05 9.99992918e-01 5.30137601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.15, Y:75.28, Z:0.53 [[ 4.27332180e-01 -9.04093292e-01 -1.59015702e-03 1.19145662e+02] [ 9.04086857e-01 4.27335138e-01 -3.41093008e-03 7.52797718e+01] [ 3.76332897e-03 1.99601203e-05 9.99992918e-01 5.30451782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:75.30, Z:0.53 [[ 4.27105283e-01 -9.04200504e-01 -1.58918912e-03 1.19157727e+02] [ 9.04194069e-01 4.27108239e-01 -3.41138098e-03 7.53037422e+01] [ 3.76332817e-03 2.00834615e-05 9.99992918e-01 5.29915925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.17, Y:75.33, Z:0.53 [[ 4.26722021e-01 -9.04381443e-01 -1.58832587e-03 1.19170405e+02] [ 9.04375008e-01 4.26724976e-01 -3.41178285e-03 7.53274208e+01] [ 3.76333142e-03 1.94406520e-05 9.99992918e-01 5.28056266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:75.35, Z:0.53 [[ 4.26295869e-01 -9.04582396e-01 -1.58747103e-03 1.19183084e+02] [ 9.04575961e-01 4.26298824e-01 -3.41218056e-03 7.53523981e+01] [ 3.76333550e-03 1.86103455e-05 9.99992918e-01 5.27780226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:75.38, Z:0.53 [[ 4.25530937e-01 -9.04942487e-01 -1.58651699e-03 1.19196566e+02] [ 9.04936052e-01 4.25533895e-01 -3.41262409e-03 7.53763283e+01] [ 3.76334528e-03 1.64807059e-05 9.99992918e-01 5.28179827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:75.40, Z:0.53 [[ 4.24962343e-01 -9.05209640e-01 -1.58551832e-03 1.19209061e+02] [ 9.05203206e-01 4.24965300e-01 -3.41308801e-03 7.54010396e+01] [ 3.76335044e-03 1.52176144e-05 9.99992918e-01 5.28386962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:75.42, Z:0.53 [[ 4.23106796e-01 -9.06078434e-01 -1.58458663e-03 1.19222018e+02] [ 9.06072004e-01 4.23109763e-01 -3.41352051e-03 7.54247748e+01] [ 3.76337139e-03 8.53414304e-06 9.99992918e-01 5.28485113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:75.45, Z:0.53 [[ 4.21645431e-01 -9.06759407e-01 -1.58360424e-03 1.19234215e+02] [ 9.06752980e-01 4.21648405e-01 -3.41397620e-03 7.54496841e+01] [ 3.76337924e-03 3.54959777e-06 9.99992918e-01 5.29237326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:75.47, Z:0.53 [[ 4.20417807e-01 -9.07329247e-01 -1.58266023e-03 1.19246632e+02] [ 9.07322823e-01 4.20420786e-01 -3.41441377e-03 7.54744456e+01] [ 3.76338073e-03 -5.03402367e-07 9.99992918e-01 5.30103509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:75.50, Z:0.53 [[ 4.17731368e-01 -9.08569206e-01 -1.58168655e-03 1.19259439e+02] [ 9.08562789e-01 4.17734362e-01 -3.41486476e-03 7.54988309e+01] [ 3.76336578e-03 -1.05654162e-05 9.99992918e-01 5.28748831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:75.52, Z:0.53 [[ 4.16208913e-01 -9.09267640e-01 -1.58102301e-03 1.19271671e+02] [ 9.09261227e-01 4.16211915e-01 -3.41517194e-03 7.55237093e+01] [ 3.76334594e-03 -1.61379233e-05 9.99992918e-01 5.29235272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00088847899997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:119.28, Y:75.55, Z:0.53 [[ 4.14770890e-01 -9.09924509e-01 -1.58012017e-03 1.19284263e+02] [ 9.09918099e-01 4.14773899e-01 -3.41558961e-03 7.55492959e+01] [ 3.76332130e-03 -2.10928016e-05 9.99992918e-01 5.31005201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:75.57, Z:0.53 [[ 4.13348762e-01 -9.10571418e-01 -1.57915829e-03 1.19296114e+02] [ 9.10565011e-01 4.13351777e-01 -3.41603426e-03 7.55742398e+01] [ 3.76329105e-03 -2.59127518e-05 9.99992918e-01 5.31277757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:119.31, Y:75.60, Z:0.53 [[ 4.11608316e-01 -9.11359481e-01 -1.57820341e-03 1.19307781e+02] [ 9.11353078e-01 4.11611340e-01 -3.41647536e-03 7.56002872e+01] [ 3.76324363e-03 -3.20508632e-05 9.99992918e-01 5.30562007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:75.62, Z:0.53 [[ 4.11168972e-01 -9.11557782e-01 -1.57725220e-03 1.19318583e+02] [ 9.11551378e-01 4.11171996e-01 -3.41691444e-03 7.56248990e+01] [ 3.76323688e-03 -3.28172167e-05 9.99992918e-01 5.29458610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:119.33, Y:75.65, Z:0.53 [[ 4.10891356e-01 -9.11682954e-01 -1.57625202e-03 1.19329623e+02] [ 9.11676550e-01 4.10894378e-01 -3.41737577e-03 7.56506620e+01] [ 3.76323633e-03 -3.28618378e-05 9.99992918e-01 5.29051726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:75.68, Z:0.53 [[ 4.10877589e-01 -9.11689160e-01 -1.57529757e-03 1.19340675e+02] [ 9.11682754e-01 4.10880608e-01 -3.41781568e-03 7.56761919e+01] [ 3.76324473e-03 -3.18677587e-05 9.99992918e-01 5.28370836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:75.70, Z:0.53 [[ 4.12270660e-01 -9.11060055e-01 -1.57434977e-03 1.19351006e+02] [ 9.11053643e-01 4.12273666e-01 -3.41825221e-03 7.56988599e+01] [ 3.76329600e-03 -2.50719925e-05 9.99992918e-01 5.26894928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:75.73, Z:0.53 [[ 4.12304058e-01 -9.11044964e-01 -1.56123399e-03 1.19362968e+02] [ 9.11038529e-01 4.12307013e-01 -3.42428442e-03 7.57259071e+01] [ 3.76338480e-03 -1.04979592e-05 9.99992918e-01 5.29252373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:75.75, Z:0.53 [[ 4.12982604e-01 -9.10737557e-01 -1.57188255e-03 1.19373507e+02] [ 9.10731138e-01 4.12985595e-01 -3.41938931e-03 7.57510313e+01] [ 3.76333112e-03 -1.94140805e-05 9.99992918e-01 5.29361163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:75.78, Z:0.53 [[ 4.14669710e-01 -9.09970639e-01 -1.57090980e-03 1.19382915e+02] [ 9.09964213e-01 4.14672685e-01 -3.41983615e-03 7.57774935e+01] [ 3.76336387e-03 -1.13692364e-05 9.99992918e-01 5.30417261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:75.80, Z:0.53 [[ 4.15732656e-01 -9.09485511e-01 -1.56995128e-03 1.19393096e+02] [ 9.09479079e-01 4.15735620e-01 -3.42027612e-03 7.58022779e+01] [ 3.76337624e-03 -5.91737254e-06 9.99992918e-01 5.30134961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:75.83, Z:0.53 [[ 4.16696463e-01 -9.09044331e-01 -1.56894773e-03 1.19403865e+02] [ 9.09037895e-01 4.16699417e-01 -3.42073640e-03 7.58286107e+01] [ 3.76338064e-03 -8.24184437e-07 9.99992918e-01 5.30138614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:75.85, Z:0.53 [[ 4.18349363e-01 -9.08284841e-01 -1.56801540e-03 1.19413939e+02] [ 9.08278398e-01 4.18352301e-01 -3.42116372e-03 7.58543147e+01] [ 3.76337399e-03 7.04715230e-06 9.99992918e-01 5.30590133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:75.88, Z:0.53 [[ 4.18490605e-01 -9.08219773e-01 -1.56733580e-03 1.19425337e+02] [ 9.08213329e-01 4.18493540e-01 -3.42147503e-03 7.58804942e+01] [ 3.76337119e-03 8.37989209e-06 9.99992918e-01 5.30941523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:75.91, Z:0.53 [[ 4.18235787e-01 -9.08337147e-01 -1.56642229e-03 1.19436631e+02] [ 9.08330702e-01 4.18238720e-01 -3.42189321e-03 7.59061895e+01] [ 3.76337117e-03 8.32874534e-06 9.99992918e-01 5.31755380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:75.93, Z:0.53 [[ 4.17797419e-01 -9.08538863e-01 -1.56551287e-03 1.19446729e+02] [ 9.08532417e-01 4.17800352e-01 -3.42230922e-03 7.59318440e+01] [ 3.76337275e-03 7.51276665e-06 9.99992918e-01 5.32317457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:75.96, Z:0.53 [[ 4.17570565e-01 -9.08643151e-01 -1.56455377e-03 1.19457379e+02] [ 9.08636704e-01 4.17573496e-01 -3.42274762e-03 7.59577881e+01] [ 3.76337237e-03 7.62767759e-06 9.99992918e-01 5.32379883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:75.98, Z:0.53 [[ 4.16952511e-01 -9.08926927e-01 -1.56363384e-03 1.19468279e+02] [ 9.08920481e-01 4.16955443e-01 -3.42316783e-03 7.59832031e+01] [ 3.76337506e-03 6.07960677e-06 9.99992918e-01 5.33400540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:76.01, Z:0.53 [[ 4.16253103e-01 -9.09247443e-01 -1.56263931e-03 1.19479363e+02] [ 9.09240997e-01 4.16256036e-01 -3.42362176e-03 7.60083536e+01] [ 3.76337738e-03 4.27746214e-06 9.99992918e-01 5.33474050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:76.03, Z:0.53 [[ 4.14796776e-01 -9.09912741e-01 -1.56174424e-03 1.19490447e+02] [ 9.09906298e-01 4.14799716e-01 -3.42403002e-03 7.60340653e+01] [ 3.76337960e-03 -7.64306051e-07 9.99992918e-01 5.33987037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:76.06, Z:0.53 [[ 4.13505498e-01 -9.10500284e-01 -1.56076708e-03 1.19501124e+02] [ 9.10493844e-01 4.13508444e-01 -3.42447537e-03 7.60598094e+01] [ 3.76337617e-03 -5.02942347e-06 9.99992918e-01 5.33379073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.51, Y:76.09, Z:0.53 [[ 4.11527866e-01 -9.11395843e-01 -1.55979485e-03 1.19511278e+02] [ 9.11389408e-01 4.11530822e-01 -3.42491815e-03 7.60859366e+01] [ 3.76335982e-03 -1.21312481e-05 9.99992918e-01 5.32366168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.660888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:119.52, Y:76.11, Z:0.53 [[ 4.10341015e-01 -9.11930821e-01 -1.55882430e-03 1.19522126e+02] [ 9.11924388e-01 4.10343976e-01 -3.42535983e-03 7.61111707e+01] [ 3.76334536e-03 -1.59642601e-05 9.99992918e-01 5.32397029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:76.14, Z:0.53 [[ 4.09034094e-01 -9.12517771e-01 -1.55816197e-03 1.19533457e+02] [ 9.12511341e-01 4.09037061e-01 -3.42566109e-03 7.61371927e+01] [ 3.76332262e-03 -2.06282873e-05 9.99992918e-01 5.32964876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:76.16, Z:0.53 [[ 4.08778634e-01 -9.12632239e-01 -1.55719984e-03 1.19545230e+02] [ 9.12625808e-01 4.08781599e-01 -3.42609839e-03 7.61632597e+01] [ 3.76332249e-03 -2.06249434e-05 9.99992918e-01 5.33072067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:76.19, Z:0.53 [[ 4.07212547e-01 -9.13332097e-01 -1.55624063e-03 1.19556416e+02] [ 9.13325670e-01 4.07215520e-01 -3.42653404e-03 7.61892462e+01] [ 3.76328886e-03 -2.60268628e-05 9.99992918e-01 5.33624870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.57, Y:76.21, Z:0.53 [[ 4.03899502e-01 -9.14802041e-01 -1.55528664e-03 1.19566373e+02] [ 9.14795623e-01 4.03902494e-01 -3.42696700e-03 7.62143690e+01] [ 3.76318055e-03 -3.86191453e-05 9.99992918e-01 5.34050393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.58, Y:76.24, Z:0.53 [[ 4.02036548e-01 -9.15622300e-01 -1.55458926e-03 1.19577037e+02] [ 9.15615887e-01 4.02039551e-01 -3.42728332e-03 7.62401541e+01] [ 3.76310341e-03 -4.55134677e-05 9.99992918e-01 5.33785323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.59, Y:76.27, Z:0.53 [[ 4.00040315e-01 -9.16496226e-01 -1.55363952e-03 1.19587439e+02] [ 9.16489818e-01 4.00043329e-01 -3.42771380e-03 7.62657057e+01] [ 3.76300989e-03 -5.26710975e-05 9.99992918e-01 5.33265952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.60, Y:76.29, Z:0.53 [[ 3.96622684e-01 -9.17980412e-01 -1.55263380e-03 1.19598195e+02] [ 9.17974013e-01 3.96625717e-01 -3.42816930e-03 7.62918190e+01] [ 3.76280676e-03 -6.55877674e-05 9.99992918e-01 5.32990900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.61, Y:76.32, Z:0.53 [[ 3.95191432e-01 -9.18597477e-01 -1.55170547e-03 1.19609764e+02] [ 9.18591081e-01 3.95194472e-01 -3.42858944e-03 7.63172195e+01] [ 3.76271903e-03 -7.04336396e-05 9.99992918e-01 5.33803105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.62, Y:76.34, Z:0.53 [[ 3.94071737e-01 -9.19078376e-01 -1.55076811e-03 1.19620922e+02] [ 9.19071982e-01 3.94074781e-01 -3.42901336e-03 7.63434115e+01] [ 3.76265063e-03 -7.39902718e-05 9.99992918e-01 5.34087828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.63, Y:76.37, Z:0.53 [[ 3.93049492e-01 -9.19516011e-01 -1.54983836e-03 1.19630232e+02] [ 9.19509619e-01 3.93052540e-01 -3.42943353e-03 7.63701400e+01] [ 3.76258695e-03 -7.71541734e-05 9.99992918e-01 5.33941441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:76.40, Z:0.53 [[ 3.93000133e-01 -9.19537110e-01 -1.54889954e-03 1.19640077e+02] [ 9.19530716e-01 3.93003178e-01 -3.42985750e-03 7.63955291e+01] [ 3.76260369e-03 -7.63262522e-05 9.99992918e-01 5.33205204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.65, Y:76.42, Z:0.53 [[ 3.93314959e-01 -9.19402495e-01 -1.54791014e-03 1.19650076e+02] [ 9.19396098e-01 3.93317998e-01 -3.43030396e-03 7.64202646e+01] [ 3.76265093e-03 -7.39526854e-05 9.99992918e-01 5.33583311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:119.66, Y:76.45, Z:0.54 [[ 3.93934165e-01 -9.19137357e-01 -1.54695721e-03 1.19660739e+02] [ 9.19130957e-01 3.93937196e-01 -3.43073365e-03 7.64464073e+01] [ 3.76271944e-03 -7.03730625e-05 9.99992918e-01 5.35829325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08088847899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:119.67, Y:76.47, Z:0.54 [[ 3.94993262e-01 -9.18682720e-01 -1.54364081e-03 1.19671356e+02] [ 9.18676311e-01 3.94996274e-01 -3.43222828e-03 7.64733774e+01] [ 3.76286118e-03 -6.23991993e-05 9.99992918e-01 5.37141797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:119.68, Y:76.50, Z:0.54 [[ 3.95358218e-01 -9.18525715e-01 -1.54580412e-03 1.19682010e+02] [ 9.18519309e-01 3.95361235e-01 -3.43125369e-03 7.64995931e+01] [ 3.76284578e-03 -6.32765885e-05 9.99992918e-01 5.37642393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14088847899998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:119.69, Y:76.53, Z:0.54 [[ 3.97504587e-01 -9.17598887e-01 -1.54483618e-03 1.19690533e+02] [ 9.17592471e-01 3.97507585e-01 -3.43168943e-03 7.65258604e+01] [ 3.76299850e-03 -5.34177609e-05 9.99992918e-01 5.36268850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17088847899998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:119.70, Y:76.55, Z:0.54 [[ 3.97640266e-01 -9.17540116e-01 -1.53421143e-03 1.19700716e+02] [ 9.17533682e-01 3.97643224e-01 -3.43646758e-03 7.65521227e+01] [ 3.76316565e-03 -4.12127809e-05 9.99992918e-01 5.37062722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20088847899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:119.71, Y:76.58, Z:0.54 [[ 3.98618537e-01 -9.17115522e-01 -1.54303239e-03 1.19711090e+02] [ 9.17109100e-01 3.98621521e-01 -3.43250225e-03 7.65779952e+01] [ 3.76308701e-03 -4.68700191e-05 9.99992918e-01 5.37181037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230888479 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:119.72, Y:76.60, Z:0.54 [[ 3.99755074e-01 -9.16620697e-01 -1.54207186e-03 1.19721366e+02] [ 9.16614270e-01 3.99758046e-01 -3.43293372e-03 7.66039432e+01] [ 3.76315373e-03 -4.11523977e-05 9.99992918e-01 5.37614053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.73, Y:76.63, Z:0.54 [[ 4.02751744e-01 -9.15307958e-01 -1.54109591e-03 1.19729936e+02] [ 9.15301519e-01 4.02754692e-01 -3.43337178e-03 7.66296881e+01] [ 3.76327612e-03 -2.77709505e-05 9.99992918e-01 5.37673567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290888479 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:119.74, Y:76.66, Z:0.54 [[ 4.04360201e-01 -9.14598521e-01 -1.54021666e-03 1.19740067e+02] [ 9.14592076e-01 4.04363134e-01 -3.43376617e-03 7.66555194e+01] [ 3.76332430e-03 -2.01915785e-05 9.99992918e-01 5.37693535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.320888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:119.75, Y:76.68, Z:0.54 [[ 4.07857057e-01 -9.13044496e-01 -1.53925402e-03 1.19749075e+02] [ 9.13038038e-01 4.07859962e-01 -3.43419763e-03 7.66816620e+01] [ 3.76337534e-03 -4.73573240e-06 9.99992918e-01 5.36418752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.350888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:119.76, Y:76.71, Z:0.54 [[ 4.09526693e-01 -9.12296838e-01 -1.53839260e-03 1.19759373e+02] [ 9.12290373e-01 4.09529582e-01 -3.43458348e-03 7.67076927e+01] [ 3.76337693e-03 3.09285781e-06 9.99992918e-01 5.36318486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.380888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.77, Y:76.73, Z:0.54 [[ 4.10846661e-01 -9.11703163e-01 -1.53743462e-03 1.19769519e+02] [ 9.11696692e-01 4.10849538e-01 -3.43501225e-03 7.67329176e+01] [ 3.76336583e-03 9.58925387e-06 9.99992918e-01 5.35736637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.410888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.78, Y:76.76, Z:0.54 [[ 4.12630655e-01 -9.10897131e-01 -1.53642650e-03 1.19779713e+02] [ 9.10890652e-01 4.12633515e-01 -3.43546310e-03 7.67594853e+01] [ 3.76333455e-03 1.80608540e-05 9.99992918e-01 5.35368128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.440888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:119.79, Y:76.78, Z:0.54 [[ 4.12635606e-01 -9.10894889e-01 -1.53544316e-03 1.19790558e+02] [ 9.10888409e-01 4.12638463e-01 -3.43590254e-03 7.67846837e+01] [ 3.76332897e-03 1.91583554e-05 9.99992918e-01 5.35079649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.470888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.80, Y:76.81, Z:0.53 [[ 4.12297037e-01 -9.11048187e-01 -1.53456012e-03 1.19801367e+02] [ 9.11041706e-01 4.12299893e-01 -3.43629688e-03 7.68094025e+01] [ 3.76333102e-03 1.87267515e-05 9.99992918e-01 5.34912539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:119.81, Y:76.83, Z:0.54 [[ 4.11146338e-01 -9.11568065e-01 -1.53369761e-03 1.19812646e+02] [ 9.11561587e-01 4.11149198e-01 -3.43668180e-03 7.68349300e+01] [ 3.76334792e-03 1.49193064e-05 9.99992918e-01 5.36149269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53088847899997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.82, Y:76.86, Z:0.54 [[ 4.11754750e-01 -9.11293409e-01 -1.53272660e-03 1.19823202e+02] [ 9.11286927e-01 4.11757602e-01 -3.43711481e-03 7.68592304e+01] [ 3.76333190e-03 1.84946400e-05 9.99992918e-01 5.35610973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:119.84, Y:76.89, Z:0.54 [[ 4.10003949e-01 -9.12082495e-01 -1.51164469e-03 1.19835359e+02] [ 9.12075984e-01 4.10006734e-01 -3.44650592e-03 7.68871943e+01] [ 3.76328222e-03 3.43462192e-05 9.99992918e-01 5.36860142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59088847899997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.85, Y:76.91, Z:0.54 [[ 4.09719339e-01 -9.12210347e-01 -1.53140846e-03 1.19845624e+02] [ 9.12203870e-01 4.09722201e-01 -3.43770167e-03 7.69119828e+01] [ 3.76335908e-03 1.15361362e-05 9.99992918e-01 5.36873633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62088847899997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:119.86, Y:76.94, Z:0.54 [[ 4.09891783e-01 -9.12132876e-01 -1.53054512e-03 1.19856517e+02] [ 9.12126397e-01 4.09894640e-01 -3.43808600e-03 7.69375285e+01] [ 3.76335351e-03 1.31925922e-05 9.99992918e-01 5.36421523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65088847899997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.87, Y:76.96, Z:0.54 [[ 4.10215948e-01 -9.11987136e-01 -1.52959275e-03 1.19867038e+02] [ 9.11980654e-01 4.10218800e-01 -3.43850966e-03 7.69619804e+01] [ 3.76334427e-03 1.55725076e-05 9.99992918e-01 5.36360525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68088847899998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:119.88, Y:76.99, Z:0.54 [[ 4.10456554e-01 -9.11878874e-01 -1.52858808e-03 1.19878605e+02] [ 9.11872389e-01 4.10459400e-01 -3.43895622e-03 7.69879368e+01] [ 3.76333487e-03 1.76648601e-05 9.99992918e-01 5.36753978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71088847899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:119.89, Y:77.01, Z:0.54 [[ 4.11514655e-01 -9.11401863e-01 -1.52762527e-03 1.19889144e+02] [ 9.11395373e-01 4.11517490e-01 -3.43938386e-03 7.70121506e+01] [ 3.76330537e-03 2.30862568e-05 9.99992918e-01 5.36184534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74088847899998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.89, Y:77.03, Z:0.53 [[ 4.06114207e-01 -9.13821082e-01 -1.51027772e-03 1.19887289e+02] [ 9.13814581e-01 4.06117015e-01 -3.44708009e-03 7.70276122e+01] [ 3.76336394e-03 1.97943940e-05 9.99992918e-01 5.29169773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.91, Y:77.06, Z:0.54 [[ 4.11673137e-01 -9.11330493e-01 -1.40035384e-03 1.19912710e+02] [ 9.11323802e-01 4.11675487e-01 -3.49583797e-03 7.70594537e+01] [ 3.76235509e-03 1.62966800e-04 9.99992909e-01 5.36610601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80088847899998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:119.92, Y:77.09, Z:0.54 [[ 4.09292593e-01 -9.12401935e-01 -1.51113565e-03 1.19924632e+02] [ 9.12395425e-01 4.09295381e-01 -3.44657153e-03 7.70857180e+01] [ 3.76315938e-03 3.19029484e-05 9.99992919e-01 5.37838962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:119.94, Y:77.11, Z:0.54 [[ 4.07995719e-01 -9.12982561e-01 -1.52867822e-03 1.19936522e+02] [ 9.12976085e-01 4.07998583e-01 -3.43877313e-03 7.71112174e+01] [ 3.76323844e-03 7.35805979e-06 9.99992919e-01 5.37970568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.95, Y:77.14, Z:0.54 [[ 4.07372797e-01 -9.13260680e-01 -1.52773337e-03 1.19948459e+02] [ 9.13254205e-01 4.07375661e-01 -3.43919284e-03 7.71366275e+01] [ 3.76324099e-03 5.82468767e-06 9.99992919e-01 5.38202224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89088847899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.96, Y:77.16, Z:0.54 [[ 4.07011059e-01 -9.13421954e-01 -1.52679456e-03 1.19960505e+02] [ 9.13415478e-01 4.07013923e-01 -3.43960957e-03 7.71616965e+01] [ 3.76324154e-03 5.36135476e-06 9.99992919e-01 5.38763752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:119.97, Y:77.19, Z:0.54 [[ 4.06176107e-01 -9.13793545e-01 -1.52584199e-03 1.19971762e+02] [ 9.13787069e-01 4.06178973e-01 -3.44003208e-03 7.71860485e+01] [ 3.76324404e-03 2.96416032e-06 9.99992919e-01 5.38687587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95088847899999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:119.98, Y:77.21, Z:0.54 [[ 4.06506917e-01 -9.13646431e-01 -1.52483612e-03 1.19982731e+02] [ 9.13639954e-01 4.06509777e-01 -3.44047789e-03 7.72108912e+01] [ 3.76324114e-03 5.42685596e-06 9.99992919e-01 5.38783724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:77.24, Z:0.54 [[ 4.06582038e-01 -9.13613018e-01 -1.51662818e-03 1.19995908e+02] [ 9.13606526e-01 4.06584867e-01 -3.44411382e-03 7.72368146e+01] [ 3.76322529e-03 1.47134129e-05 9.99992919e-01 5.38333992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:120.01, Y:77.26, Z:0.54 [[ 4.05225247e-01 -9.14215612e-01 -1.52133347e-03 1.20009331e+02] [ 9.14209132e-01 4.05228103e-01 -3.44203018e-03 7.72647925e+01] [ 3.76324481e-03 3.98058148e-06 9.99992919e-01 5.39514904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040888479 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:120.02, Y:77.29, Z:0.54 [[ 4.05108364e-01 -9.14267361e-01 -1.55119218e-03 1.20024714e+02] [ 9.14260932e-01 4.05111333e-01 -3.42878271e-03 7.72907245e+01] [ 3.76322965e-03 -2.91658553e-05 9.99992919e-01 5.38462145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.070888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:120.03, Y:77.31, Z:0.54 [[ 4.02268465e-01 -9.15520398e-01 -1.57596178e-03 1.20031283e+02] [ 9.15514020e-01 4.02271546e-01 -3.41779007e-03 7.73126716e+01] [ 3.76302110e-03 -6.79459402e-05 9.99992918e-01 5.38699697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:77.34, Z:0.54 [[ 3.99863054e-01 -9.16573628e-01 -1.52391796e-03 1.20043251e+02] [ 9.16567170e-01 3.99865957e-01 -3.44083983e-03 7.73366933e+01] [ 3.76314596e-03 -2.09084503e-05 9.99992919e-01 5.38978118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.130888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:120.06, Y:77.36, Z:0.54 [[ 3.98943687e-01 -9.16974163e-01 -1.52293888e-03 1.20055144e+02] [ 9.16967706e-01 3.98946593e-01 -3.44127312e-03 7.73620857e+01] [ 3.76312982e-03 -2.36115777e-05 9.99992919e-01 5.39539288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.160888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.07, Y:77.39, Z:0.54 [[ 3.98259045e-01 -9.17271725e-01 -1.52197495e-03 1.20066761e+02] [ 9.17265268e-01 3.98261952e-01 -3.44169939e-03 7.73871625e+01] [ 3.76311825e-03 -2.53668480e-05 9.99992919e-01 5.39594496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.190888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.08, Y:77.41, Z:0.54 [[ 3.97617747e-01 -9.17549897e-01 -1.52101161e-03 1.20077843e+02] [ 9.17543441e-01 3.97620655e-01 -3.44212507e-03 7.74119347e+01] [ 3.76310714e-03 -2.69442145e-05 9.99992919e-01 5.39394115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.220888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.09, Y:77.44, Z:0.54 [[ 3.97474844e-01 -9.17611812e-01 -1.52014621e-03 1.20089750e+02] [ 9.17605355e-01 3.97477750e-01 -3.44250721e-03 7.74376578e+01] [ 3.76310958e-03 -2.65842896e-05 9.99992919e-01 5.39336416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.10, Y:77.46, Z:0.54 [[ 3.97280184e-01 -9.17696109e-01 -1.51919386e-03 1.20101251e+02] [ 9.17689651e-01 3.97283088e-01 -3.44292744e-03 7.74617361e+01] [ 3.76311114e-03 -2.63416354e-05 9.99992919e-01 5.37954832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:120.11, Y:77.49, Z:0.54 [[ 3.97648333e-01 -9.17536647e-01 -1.51819028e-03 1.20113959e+02] [ 9.17530186e-01 3.97651231e-01 -3.44336992e-03 7.74864911e+01] [ 3.76312832e-03 -2.37351050e-05 9.99992919e-01 5.38475526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31088847899997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:120.13, Y:77.51, Z:0.54 [[ 3.97950672e-01 -9.17405560e-01 -1.51725456e-03 1.20125779e+02] [ 9.17399096e-01 3.97953564e-01 -3.44378218e-03 7.75114584e+01] [ 3.76314177e-03 -2.14725282e-05 9.99992919e-01 5.38038333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:120.14, Y:77.54, Z:0.54 [[ 3.97990236e-01 -9.17388399e-01 -1.51557641e-03 1.20138201e+02] [ 9.17381933e-01 3.97993122e-01 -3.44452106e-03 7.75370936e+01] [ 3.76315265e-03 -1.94766677e-05 9.99992919e-01 5.39041010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.15, Y:77.56, Z:0.54 [[ 3.98510023e-01 -9.17162726e-01 -1.51536352e-03 1.20151075e+02] [ 9.17156257e-01 3.98512904e-01 -3.44461472e-03 7.75619970e+01] [ 3.76316414e-03 -1.71116479e-05 9.99992919e-01 5.39836394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:120.16, Y:77.59, Z:0.54 [[ 3.99204083e-01 -9.16860844e-01 -1.51439134e-03 1.20163006e+02] [ 9.16854372e-01 3.99206955e-01 -3.44504207e-03 7.75866026e+01] [ 3.76317974e-03 -1.32014555e-05 9.99992919e-01 5.39943942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43088847899998 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:120.18, Y:77.61, Z:0.54 [[ 4.00751324e-01 -9.16185617e-01 -1.51373165e-03 1.20176046e+02] [ 9.16179139e-01 4.00754183e-01 -3.44533191e-03 7.76104800e+01] [ 3.76319783e-03 -6.12803406e-06 9.99992919e-01 5.39975616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46088847899998 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:120.18, Y:77.63, Z:0.53 [[ 3.94399192e-01 -9.18937968e-01 -1.51272499e-03 1.20176227e+02] [ 9.18931508e-01 3.94402092e-01 -3.44577384e-03 7.76279206e+01] [ 3.76307432e-03 -3.10802357e-05 9.99992919e-01 5.33130195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:120.20, Y:77.66, Z:0.54 [[ 4.04307191e-01 -9.14622191e-01 -1.39419206e-03 1.20201918e+02] [ 9.14615513e-01 4.04309571e-01 -3.49767410e-03 7.76601677e+01] [ 3.76273554e-03 1.38985099e-04 9.99992911e-01 5.40373491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52088847899998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:120.21, Y:77.68, Z:0.54 [[ 4.05553190e-01 -9.14070194e-01 -1.51314706e-03 1.20213424e+02] [ 9.14063701e-01 4.05556013e-01 -3.44543209e-03 7.76845527e+01] [ 3.76303267e-03 1.41931703e-05 9.99992920e-01 5.40483659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55088847899998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:120.21, Y:77.70, Z:0.53 [[ 4.01573174e-01 -9.15825693e-01 -1.51215855e-03 1.20214942e+02] [ 9.15819210e-01 4.01576021e-01 -3.44586588e-03 7.77037768e+01] [ 3.76305912e-03 -1.09654381e-06 9.99992920e-01 5.32892422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58088847899998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:120.24, Y:77.73, Z:0.54 [[ 4.09974842e-01 -9.12095711e-01 -1.42935927e-03 1.20238511e+02] [ 9.12089072e-01 4.09977315e-01 -3.48216374e-03 7.77342057e+01] [ 3.76207149e-03 1.23896558e-04 9.99992916e-01 5.40732377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:120.25, Y:77.76, Z:0.54 [[ 4.10574670e-01 -9.11825724e-01 -1.51327293e-03 1.20250746e+02] [ 9.11819215e-01 4.10577457e-01 -3.44530658e-03 7.77582771e+01] [ 3.76283492e-03 3.47242758e-05 9.99992920e-01 5.40440716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:120.26, Y:77.78, Z:0.54 [[ 4.10329242e-01 -9.11936196e-01 -1.51235027e-03 1.20262150e+02] [ 9.11929687e-01 4.10332028e-01 -3.44571155e-03 7.77845010e+01] [ 3.76283483e-03 3.47190950e-05 9.99992920e-01 5.40547895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:120.26, Y:77.80, Z:0.53 [[ 4.03649696e-01 -9.14912366e-01 -1.51142276e-03 1.20264041e+02] [ 9.14905876e-01 4.03652526e-01 -3.44611834e-03 7.78007601e+01] [ 3.76298590e-03 8.21505350e-06 9.99992920e-01 5.34876169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70088847899999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:120.29, Y:77.83, Z:0.54 [[ 4.11317339e-01 -9.11491140e-01 -1.39601266e-03 1.20289449e+02] [ 9.11484448e-01 4.11319675e-01 -3.49665663e-03 7.78328288e+01] [ 3.76137901e-03 1.65791670e-04 9.99992912e-01 5.41698653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:120.29, Y:77.85, Z:0.54 [[ 4.05397783e-01 -9.14139129e-01 -1.51316417e-03 1.20293933e+02] [ 9.14132637e-01 4.05400607e-01 -3.44520265e-03 7.78536996e+01] [ 3.76283223e-03 1.34447636e-05 9.99992920e-01 5.36959908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:120.32, Y:77.88, Z:0.54 [[ 4.09187803e-01 -9.12449056e-01 -1.43625336e-03 1.20317891e+02] [ 9.12442431e-01 4.09190308e-01 -3.47892138e-03 7.78819403e+01] [ 3.76203949e-03 1.13033686e-04 9.99992917e-01 5.42655130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:120.31, Y:77.89, Z:0.53 [[ 3.94096341e-01 -9.19067890e-01 -1.51277423e-03 1.20307845e+02] [ 9.19061433e-01 3.94099243e-01 -3.44532257e-03 7.78925676e+01] [ 3.76266852e-03 -3.25434346e-05 9.99992921e-01 5.33678824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.820888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:120.35, Y:77.93, Z:0.54 [[ 4.07457600e-01 -9.13223191e-01 -1.30682921e-03 1.20345353e+02] [ 9.13216381e-01 4.07459621e-01 -3.53535282e-03 7.79296000e+01] [ 3.76104631e-03 2.47088539e-04 9.99992897e-01 5.43429753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.850888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:120.34, Y:77.94, Z:0.54 [[ 3.94988997e-01 -9.18684603e-01 -1.51424633e-03 1.20337261e+02] [ 9.18678147e-01 3.94991898e-01 -3.44416071e-03 7.79421017e+01] [ 3.76221245e-03 -3.06994281e-05 9.99992922e-01 5.35998921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.880888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:120.37, Y:77.98, Z:0.54 [[ 4.06906629e-01 -9.13468785e-01 -1.33172349e-03 1.20371166e+02] [ 9.13462014e-01 4.06908750e-01 -3.52405220e-03 7.79782199e+01] [ 3.76100162e-03 2.17481380e-04 9.99992904e-01 5.43362819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.910888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:120.38, Y:78.00, Z:0.54 [[ 4.06208502e-01 -9.13779163e-01 -1.51470930e-03 1.20383450e+02] [ 9.13772674e-01 4.06211326e-01 -3.44356288e-03 7.80036776e+01] [ 3.76194808e-03 1.47045503e-05 9.99992924e-01 5.44511277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.940888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:120.40, Y:78.03, Z:0.54 [[ 4.05024075e-01 -9.14304767e-01 -1.51374519e-03 1.20395328e+02] [ 9.14298281e-01 4.05026904e-01 -3.44398663e-03 7.80284428e+01] [ 3.76196093e-03 1.08828753e-05 9.99992924e-01 5.43483514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.970888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:120.41, Y:78.05, Z:0.54 [[ 4.02360621e-01 -9.15480006e-01 -1.51273444e-03 1.20408397e+02] [ 9.15473527e-01 4.02363465e-01 -3.44443054e-03 7.80524827e+01] [ 3.76197636e-03 1.03488167e-06 9.99992924e-01 5.44013656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00088847899997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:120.42, Y:78.08, Z:0.55 [[ 4.01047117e-01 -9.16056180e-01 -1.51179638e-03 1.20420672e+02] [ 9.16049703e-01 4.01049966e-01 -3.44484221e-03 7.80775205e+01] [ 3.76197489e-03 -3.33658748e-06 9.99992924e-01 5.46199344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03088847899997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:120.43, Y:78.10, Z:0.55 [[ 3.99448028e-01 -9.16754596e-01 -1.51082627e-03 1.20432483e+02] [ 9.16748123e-01 3.99450885e-01 -3.44526763e-03 7.81024442e+01] [ 3.76196583e-03 -8.84178144e-06 9.99992924e-01 5.46458872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:120.44, Y:78.13, Z:0.55 [[ 3.96608576e-01 -9.17986578e-01 -1.51011875e-03 1.20444281e+02] [ 9.17980112e-01 3.96611450e-01 -3.44557772e-03 7.81283404e+01] [ 3.76192449e-03 -1.97133111e-05 9.99992924e-01 5.47216502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09088847899997 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:120.46, Y:78.15, Z:0.55 [[ 3.95381815e-01 -9.18515619e-01 -1.50914450e-03 1.20455630e+02] [ 9.18509155e-01 3.95384694e-01 -3.44600438e-03 7.81538350e+01] [ 3.76190149e-03 -2.36755757e-05 9.99992924e-01 5.47500760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:78.18, Z:0.55 [[ 3.93350651e-01 -9.19387291e-01 -1.50817891e-03 1.20467258e+02] [ 9.19380832e-01 3.93353541e-01 -3.44642693e-03 7.81797482e+01] [ 3.76184863e-03 -3.09365005e-05 9.99992924e-01 5.47878070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:78.21, Z:0.55 [[ 3.92575524e-01 -9.19718536e-01 -1.50720835e-03 1.20478427e+02] [ 9.19712078e-01 3.92578416e-01 -3.44685133e-03 7.82051784e+01] [ 3.76183053e-03 -3.30482528e-05 9.99992924e-01 5.48225055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:120.49, Y:78.23, Z:0.55 [[ 3.91816610e-01 -9.20042105e-01 -1.50624144e-03 1.20489419e+02] [ 9.20035647e-01 3.91819504e-01 -3.44727381e-03 7.82305509e+01] [ 3.76181182e-03 -3.50966839e-05 9.99992924e-01 5.48652815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:78.26, Z:0.55 [[ 3.91583756e-01 -9.20141237e-01 -1.50527064e-03 1.20500408e+02] [ 9.20134779e-01 3.91586648e-01 -3.44769766e-03 7.82558151e+01] [ 3.76181267e-03 -3.49894720e-05 9.99992924e-01 5.48886876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:120.51, Y:78.28, Z:0.55 [[ 3.91956662e-01 -9.19982452e-01 -1.50424665e-03 1.20511382e+02] [ 9.19975991e-01 3.91959548e-01 -3.44814438e-03 7.82812733e+01] [ 3.76183615e-03 -3.23476383e-05 9.99992924e-01 5.50059064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:78.31, Z:0.55 [[ 3.92291355e-01 -9.19839787e-01 -1.50326371e-03 1.20522643e+02] [ 9.19833322e-01 3.92294234e-01 -3.44857285e-03 7.83073556e+01] [ 3.76185620e-03 -2.99067344e-05 9.99992924e-01 5.50603293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:78.33, Z:0.55 [[ 3.92822151e-01 -9.19613234e-01 -1.50227870e-03 1.20533226e+02] [ 9.19606767e-01 3.92825023e-01 -3.44900189e-03 7.83325784e+01] [ 3.76188044e-03 -2.66613203e-05 9.99992924e-01 5.51133674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:78.36, Z:0.55 [[ 3.94479895e-01 -9.18903345e-01 -1.50139002e-03 1.20543772e+02] [ 9.18896871e-01 3.94482752e-01 -3.44938869e-03 7.83588593e+01] [ 3.76192728e-03 -1.89081050e-05 9.99992924e-01 5.51710594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:78.38, Z:0.55 [[ 3.95753394e-01 -9.18355596e-01 -1.50042989e-03 1.20554810e+02] [ 9.18349116e-01 3.95756238e-01 -3.44980629e-03 7.83846647e+01] [ 3.76195340e-03 -1.26459188e-05 9.99992924e-01 5.52386550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:78.41, Z:0.55 [[ 3.96828156e-01 -9.17891696e-01 -1.49945731e-03 1.20564880e+02] [ 9.17885212e-01 3.96830989e-01 -3.45022897e-03 7.84095589e+01] [ 3.76196765e-03 -7.18169280e-06 9.99992924e-01 5.52835011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:78.43, Z:0.55 [[ 3.99232749e-01 -9.16848388e-01 -1.49874692e-03 1.20573784e+02] [ 9.16841895e-01 3.99235562e-01 -3.45053752e-03 7.84347411e+01] [ 3.76197284e-03 3.45361325e-06 9.99992924e-01 5.52698532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:78.46, Z:0.55 [[ 4.00026853e-01 -9.16502195e-01 -1.49804747e-03 1.20584088e+02] [ 9.16495698e-01 4.00029658e-01 -3.45084116e-03 7.84613388e+01] [ 3.76196692e-03 7.47506926e-06 9.99992924e-01 5.52363260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:120.59, Y:78.49, Z:0.55 [[ 4.01084055e-01 -9.16040032e-01 -1.49709750e-03 1.20594815e+02] [ 9.16033530e-01 4.01086849e-01 -3.45125325e-03 7.84868650e+01] [ 3.76195225e-03 1.28511426e-05 9.99992924e-01 5.52077188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.61, Y:78.51, Z:0.55 [[ 4.01905061e-01 -9.15680121e-01 -1.49613195e-03 1.20606051e+02] [ 9.15673615e-01 4.01907846e-01 -3.45167177e-03 7.85131155e+01] [ 3.76193439e-03 1.72758042e-05 9.99992924e-01 5.51952129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:120.62, Y:78.54, Z:0.55 [[ 4.02620514e-01 -9.15365766e-01 -1.49516990e-03 1.20616491e+02] [ 9.15359257e-01 4.02623289e-01 -3.45208845e-03 7.85384999e+01] [ 3.76191381e-03 2.12640159e-05 9.99992924e-01 5.51368721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.570888479 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:120.63, Y:78.56, Z:0.55 [[ 4.04682210e-01 -9.14456165e-01 -1.49414895e-03 1.20625958e+02] [ 9.14449648e-01 4.04684967e-01 -3.45253029e-03 7.85608076e+01] [ 3.76184722e-03 3.08536069e-05 9.99992924e-01 5.50692009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.600888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:120.64, Y:78.59, Z:0.55 [[ 4.02317198e-01 -9.15499170e-01 -1.46371439e-03 1.20637438e+02] [ 9.15492611e-01 4.02319857e-01 -3.46567725e-03 7.85892706e+01] [ 3.76170601e-03 5.42818493e-05 9.99992923e-01 5.50642008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.630888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:120.65, Y:78.61, Z:0.55 [[ 4.03432627e-01 -9.15008137e-01 -1.49184839e-03 1.20647987e+02] [ 9.15001620e-01 4.03435384e-01 -3.45352397e-03 7.86117967e+01] [ 3.76186696e-03 2.82205532e-05 9.99992924e-01 5.51080169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.660888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:120.66, Y:78.64, Z:0.55 [[ 4.01764953e-01 -9.15741645e-01 -1.47020266e-03 1.20660063e+02] [ 9.15735099e-01 4.01767640e-01 -3.46286595e-03 7.86387424e+01] [ 3.76177041e-03 4.49420002e-05 9.99992924e-01 5.50970086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:78.66, Z:0.55 [[ 4.01023228e-01 -9.16066673e-01 -1.49068911e-03 1.20671144e+02] [ 9.16060161e-01 4.01025998e-01 -3.45402440e-03 7.86630241e+01] [ 3.76192172e-03 1.95831076e-05 9.99992924e-01 5.51292169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.720888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:120.68, Y:78.69, Z:0.55 [[ 4.00123404e-01 -9.16460060e-01 -1.48967782e-03 1.20682519e+02] [ 9.16453550e-01 4.00126177e-01 -3.45446050e-03 7.86884774e+01] [ 3.76193417e-03 1.69899642e-05 9.99992924e-01 5.51655074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75088847899997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:120.69, Y:78.71, Z:0.55 [[ 3.98231968e-01 -9.17283535e-01 -1.48870547e-03 1.20693818e+02] [ 9.17277029e-01 3.98234751e-01 -3.45487948e-03 7.87136916e+01] [ 3.76195832e-03 1.02881281e-05 9.99992924e-01 5.51395331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78088847899997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:120.70, Y:78.74, Z:0.55 [[ 3.96941635e-01 -9.17842647e-01 -1.48773039e-03 1.20704865e+02] [ 9.17836143e-01 3.96944423e-01 -3.45529932e-03 7.87398265e+01] [ 3.76196736e-03 6.05943999e-06 9.99992924e-01 5.51321764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:120.72, Y:78.77, Z:0.55 [[ 3.95561757e-01 -9.18438178e-01 -1.48675062e-03 1.20715922e+02] [ 9.18431676e-01 3.95564551e-01 -3.45572085e-03 7.87651146e+01] [ 3.76197180e-03 1.47214752e-06 9.99992924e-01 5.51298847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:120.73, Y:78.79, Z:0.55 [[ 3.92842837e-01 -9.19604425e-01 -1.48572561e-03 1.20728111e+02] [ 9.19597930e-01 3.92845646e-01 -3.45616147e-03 7.87909047e+01] [ 3.76196222e-03 -8.54191631e-06 9.99992924e-01 5.52368062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87088847899997 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:120.74, Y:78.82, Z:0.55 [[ 3.91137580e-01 -9.20331021e-01 -1.48475408e-03 1.20738978e+02] [ 9.20324530e-01 3.91140398e-01 -3.45657879e-03 7.88157307e+01] [ 3.76194399e-03 -1.44577385e-05 9.99992924e-01 5.52522156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90088847899997 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:120.75, Y:78.84, Z:0.55 [[ 3.89606111e-01 -9.20980389e-01 -1.48372992e-03 1.20750055e+02] [ 9.20973901e-01 3.89608936e-01 -3.45701835e-03 7.88415714e+01] [ 3.76192054e-03 -1.96010561e-05 9.99992924e-01 5.52441504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93088847899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:120.76, Y:78.87, Z:0.55 [[ 3.88108128e-01 -9.21612653e-01 -1.48275028e-03 1.20760532e+02] [ 9.21606168e-01 3.88110959e-01 -3.45743848e-03 7.88666455e+01] [ 3.76189068e-03 -2.46518247e-05 9.99992924e-01 5.52211108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96088847899998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:120.77, Y:78.89, Z:0.55 [[ 3.85798690e-01 -9.22581799e-01 -1.48171926e-03 1.20771550e+02] [ 9.22575319e-01 3.85801534e-01 -3.45788028e-03 7.88929525e+01] [ 3.76182697e-03 -3.29519379e-05 9.99992924e-01 5.51841868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99088847899998 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:120.78, Y:78.92, Z:0.55 [[ 3.84788050e-01 -9.23003772e-01 -1.48075138e-03 1.20782780e+02] [ 9.22997294e-01 3.84790898e-01 -3.45829470e-03 7.89190541e+01] [ 3.76179870e-03 -3.60190469e-05 9.99992924e-01 5.52173750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02088847899998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:120.79, Y:78.95, Z:0.55 [[ 3.83695303e-01 -9.23458567e-01 -1.47978854e-03 1.20793572e+02] [ 9.23452090e-01 3.83698155e-01 -3.45870664e-03 7.89453181e+01] [ 3.76176441e-03 -3.94243235e-05 9.99992924e-01 5.52464993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05088847899998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:120.80, Y:78.97, Z:0.55 [[ 3.82441917e-01 -9.23978351e-01 -1.47881985e-03 1.20803204e+02] [ 9.23971877e-01 3.82444773e-01 -3.45912077e-03 7.89718793e+01] [ 3.76171963e-03 -4.34751730e-05 9.99992924e-01 5.52632336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08088847899998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:120.81, Y:79.00, Z:0.55 [[ 3.81482693e-01 -9.24374800e-01 -1.47784844e-03 1.20813009e+02] [ 9.24368327e-01 3.81485553e-01 -3.45953574e-03 7.89966360e+01] [ 3.76168548e-03 -4.63232827e-05 9.99992924e-01 5.52598561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11088847899998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:120.82, Y:79.02, Z:0.55 [[ 3.80585514e-01 -9.24744552e-01 -1.47682367e-03 1.20823903e+02] [ 9.24738080e-01 3.80588376e-01 -3.45997314e-03 7.90228114e+01] [ 3.76165323e-03 -4.88594273e-05 9.99992924e-01 5.52506643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14088847899998 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:120.83, Y:79.05, Z:0.55 [[ 3.78453349e-01 -9.25619190e-01 -1.47586718e-03 1.20834329e+02] [ 9.25612723e-01 3.78456222e-01 -3.46038109e-03 7.90476933e+01] [ 3.76154626e-03 -5.64886279e-05 9.99992924e-01 5.52258713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17088847899998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:120.85, Y:79.07, Z:0.55 [[ 3.77370487e-01 -9.26061197e-01 -1.47486533e-03 1.20845125e+02] [ 9.26054732e-01 3.77373365e-01 -3.46080804e-03 7.90738895e+01] [ 3.76149493e-03 -5.97992066e-05 9.99992924e-01 5.52383307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20088847899999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:120.86, Y:79.10, Z:0.55 [[ 3.76616277e-01 -9.26368181e-01 -1.47391636e-03 1.20855308e+02] [ 9.26361717e-01 3.76619156e-01 -3.46121215e-03 7.90999474e+01] [ 3.76146194e-03 -6.18308576e-05 9.99992924e-01 5.52090997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230888479 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:120.87, Y:79.13, Z:0.55 [[ 3.75646882e-01 -9.26761701e-01 -1.47296558e-03 1.20865044e+02] [ 9.26755238e-01 3.75649764e-01 -3.46161672e-03 7.91260956e+01] [ 3.76141297e-03 -6.47330364e-05 9.99992924e-01 5.52475391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260888479 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:120.87, Y:79.15, Z:0.55 [[ 3.75425454e-01 -9.26851424e-01 -1.47198679e-03 1.20874825e+02] [ 9.26844960e-01 3.75428334e-01 -3.46203288e-03 7.91519268e+01] [ 3.76141565e-03 -6.45682757e-05 9.99992924e-01 5.52241477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:120.88, Y:79.18, Z:0.55 [[ 3.75142754e-01 -9.26965884e-01 -1.47095769e-03 1.20883635e+02] [ 9.26959420e-01 3.75145632e-01 -3.46247007e-03 7.91779316e+01] [ 3.76141498e-03 -6.45975288e-05 9.99992924e-01 5.53121931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.320888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:120.89, Y:79.20, Z:0.55 [[ 3.75176956e-01 -9.26952043e-01 -1.46995784e-03 1.20893905e+02] [ 9.26945577e-01 3.75179831e-01 -3.46289449e-03 7.92046067e+01] [ 3.76143566e-03 -6.33727047e-05 9.99992924e-01 5.53865279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.350888479 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:120.90, Y:79.23, Z:0.55 [[ 3.75659132e-01 -9.26756742e-01 -1.46901078e-03 1.20904612e+02] [ 9.26750273e-01 3.75661999e-01 -3.46329621e-03 7.92310145e+01] [ 3.76148463e-03 -6.03872925e-05 9.99992924e-01 5.54338503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.380888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:120.92, Y:79.26, Z:0.56 [[ 3.76018732e-01 -9.26610899e-01 -1.46804631e-03 1.20915125e+02] [ 9.26604427e-01 3.76021593e-01 -3.46370498e-03 7.92575784e+01] [ 3.76152390e-03 -5.78802519e-05 9.99992924e-01 5.55157302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.410888479 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:120.92, Y:79.28, Z:0.56 [[ 3.78290701e-01 -9.25685688e-01 -1.46708009e-03 1.20924168e+02] [ 9.25679208e-01 3.78293542e-01 -3.46411418e-03 7.92842010e+01] [ 3.76166785e-03 -4.76033571e-05 9.99992924e-01 5.56543359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.440888479 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:120.93, Y:79.31, Z:0.56 [[ 3.79440678e-01 -9.25214906e-01 -1.46610611e-03 1.20933654e+02] [ 9.25208421e-01 3.79443508e-01 -3.46452635e-03 7.93111335e+01] [ 3.76173587e-03 -4.18714878e-05 9.99992924e-01 5.56902262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.470888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:120.94, Y:79.34, Z:0.56 [[ 3.80343461e-01 -9.24844152e-01 -1.46513188e-03 1.20942507e+02] [ 9.24837662e-01 3.80346281e-01 -3.46493830e-03 7.93368863e+01] [ 3.76178538e-03 -3.71425141e-05 9.99992924e-01 5.56713408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50088847899997 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:120.95, Y:79.36, Z:0.55 [[ 3.80030929e-01 -9.24972621e-01 -1.46410602e-03 1.20950506e+02] [ 9.24966130e-01 3.80033747e-01 -3.46537172e-03 7.93649907e+01] [ 3.76178366e-03 -3.73000494e-05 9.99992924e-01 5.53602408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53088847899997 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:120.96, Y:79.39, Z:0.55 [[ 3.79483886e-01 -9.25197156e-01 -1.48403343e-03 1.20960920e+02] [ 9.25190700e-01 3.79486783e-01 -3.45695694e-03 7.93908815e+01] [ 3.76153780e-03 -6.11544716e-05 9.99992924e-01 5.53716672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56088847899997 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:120.97, Y:79.41, Z:0.56 [[ 3.81787339e-01 -9.24249009e-01 -1.48236313e-03 1.20970269e+02] [ 9.24242543e-01 3.81790214e-01 -3.45766124e-03 7.94141047e+01] [ 3.76169171e-03 -4.99717824e-05 9.99992924e-01 5.55882485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:120.98, Y:79.44, Z:0.56 [[ 3.82157211e-01 -9.24096172e-01 -1.45990415e-03 1.20980331e+02] [ 9.24089668e-01 3.82159998e-01 -3.46711807e-03 7.94405843e+01] [ 3.76186751e-03 -2.40981679e-05 9.99992924e-01 5.55933188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62088847899997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:120.99, Y:79.47, Z:0.56 [[ 3.82107691e-01 -9.24116651e-01 -1.45893628e-03 1.20990191e+02] [ 9.24110146e-01 3.82110475e-01 -3.46752530e-03 7.94665375e+01] [ 3.76187270e-03 -2.32497292e-05 9.99992924e-01 5.56169371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65088847899997 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:121.00, Y:79.49, Z:0.56 [[ 3.82728123e-01 -9.23859870e-01 -1.45795714e-03 1.20999298e+02] [ 9.23853361e-01 3.82730899e-01 -3.46793694e-03 7.94920505e+01] [ 3.76189301e-03 -1.96616146e-05 9.99992924e-01 5.56326769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68088847899998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:121.01, Y:79.52, Z:0.56 [[ 3.83057040e-01 -9.23723542e-01 -1.45707763e-03 1.21009006e+02] [ 9.23717031e-01 3.83059810e-01 -3.46830643e-03 7.95179226e+01] [ 3.76190418e-03 -1.73682265e-05 9.99992924e-01 5.57076421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71088847899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:121.02, Y:79.54, Z:0.56 [[ 3.84127776e-01 -9.23278794e-01 -1.45604941e-03 1.21016997e+02] [ 9.23272278e-01 3.84130535e-01 -3.46873804e-03 7.95441877e+01] [ 3.76192531e-03 -1.18914278e-05 9.99992924e-01 5.56903525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74088847899998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:121.03, Y:79.57, Z:0.56 [[ 3.84761572e-01 -9.23014851e-01 -1.45502922e-03 1.21026121e+02] [ 9.23008332e-01 3.84764323e-01 -3.46916593e-03 7.95706174e+01] [ 3.76193500e-03 -8.20235550e-06 9.99992924e-01 5.56606639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77088847899998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:121.04, Y:79.60, Z:0.56 [[ 3.85469749e-01 -9.22719328e-01 -1.45407852e-03 1.21035464e+02] [ 9.22712805e-01 3.85472492e-01 -3.46956436e-03 7.95972874e+01] [ 3.76194136e-03 -4.28476141e-06 9.99992924e-01 5.56712820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80088847899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:121.04, Y:79.62, Z:0.56 [[ 3.88295103e-01 -9.21533940e-01 -1.45312623e-03 1.21044322e+02] [ 9.21527407e-01 3.88297822e-01 -3.46996315e-03 7.96231783e+01] [ 3.76193456e-03 8.27405188e-06 9.99992924e-01 5.56934161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83088847899998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:121.05, Y:79.65, Z:0.56 [[ 3.89243822e-01 -9.21133615e-01 -1.45243168e-03 1.21053898e+02] [ 9.21127079e-01 3.89246532e-01 -3.47025385e-03 7.96486156e+01] [ 3.76192147e-03 1.29007209e-05 9.99992924e-01 5.56867846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86088847899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:121.06, Y:79.67, Z:0.56 [[ 3.90491043e-01 -9.20605583e-01 -1.45143788e-03 1.21064035e+02] [ 9.20599041e-01 3.90493740e-01 -3.47066946e-03 7.96747063e+01] [ 3.76189508e-03 1.90730178e-05 9.99992924e-01 5.56818869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89088847899998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:121.07, Y:79.70, Z:0.56 [[ 3.91341665e-01 -9.20244314e-01 -1.45050887e-03 1.21073663e+02] [ 9.20237768e-01 3.91344352e-01 -3.47105768e-03 7.97009934e+01] [ 3.76186955e-03 2.35564473e-05 9.99992924e-01 5.56339288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92088847899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:121.08, Y:79.73, Z:0.56 [[ 3.92729318e-01 -9.19652968e-01 -1.44958469e-03 1.21082213e+02] [ 9.19646417e-01 3.92731992e-01 -3.47144359e-03 7.97273542e+01] [ 3.76182168e-03 3.02323029e-05 9.99992924e-01 5.56174991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95088847899999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:121.09, Y:79.75, Z:0.56 [[ 3.92954029e-01 -9.19556976e-01 -1.44861843e-03 1.21091936e+02] [ 9.19550423e-01 3.92956698e-01 -3.47184676e-03 7.97525297e+01] [ 3.76180522e-03 3.21984869e-05 9.99992924e-01 5.55834237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:121.10, Y:79.78, Z:0.56 [[ 3.92398914e-01 -9.19793997e-01 -1.44760085e-03 1.21101978e+02] [ 9.19787444e-01 3.92401583e-01 -3.47227099e-03 7.97791095e+01] [ 3.76181488e-03 3.10302852e-05 9.99992924e-01 5.55763670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:121.11, Y:79.81, Z:0.56 [[ 3.90309552e-01 -9.20682552e-01 -1.44665122e-03 1.21111734e+02] [ 9.20676003e-01 3.90312232e-01 -3.47266659e-03 7.98059370e+01] [ 3.76186921e-03 2.35178797e-05 9.99992924e-01 5.55824786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.12, Y:79.83, Z:0.55 [[ 3.85938698e-01 -9.22523296e-01 -1.44570148e-03 1.21118076e+02] [ 9.22516758e-01 3.85941406e-01 -3.47306193e-03 7.98294408e+01] [ 3.76193660e-03 6.70515598e-06 9.99992924e-01 5.49862470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.070888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:121.13, Y:79.86, Z:0.56 [[ 3.87095890e-01 -9.22038388e-01 -1.40851477e-03 1.21133172e+02] [ 9.22031790e-01 3.87098449e-01 -3.48852386e-03 7.98572146e+01] [ 3.76178680e-03 5.16978572e-05 9.99992923e-01 5.55421254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.100888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.14, Y:79.88, Z:0.56 [[ 3.85275820e-01 -9.22800334e-01 -1.44468233e-03 1.21144443e+02] [ 9.22793796e-01 3.85278528e-01 -3.47348114e-03 7.98832142e+01] [ 3.76193463e-03 5.10440248e-06 9.99992924e-01 5.55502613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.130888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:121.16, Y:79.91, Z:0.56 [[ 3.81567794e-01 -9.24339729e-01 -1.44375773e-03 1.21155207e+02] [ 9.24333201e-01 3.81570525e-01 -3.47386541e-03 7.99082748e+01] [ 3.76192720e-03 -8.99803921e-06 9.99992924e-01 5.55525643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.160888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.17, Y:79.93, Z:0.56 [[ 3.79561679e-01 -9.25165310e-01 -1.44277973e-03 1.21165010e+02] [ 9.25158787e-01 3.79564420e-01 -3.47427154e-03 7.99339676e+01] [ 3.76190336e-03 -1.61000061e-05 9.99992924e-01 5.55065475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.190888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.17, Y:79.96, Z:0.55 [[ 3.76546519e-01 -9.26396589e-01 -1.44181142e-03 1.21174672e+02] [ 9.26390073e-01 3.76549279e-01 -3.47467334e-03 7.99602211e+01] [ 3.76183858e-03 -2.73036371e-05 9.99992924e-01 5.54143583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.220888479 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:121.19, Y:79.99, Z:0.55 [[ 3.75148556e-01 -9.26963583e-01 -1.44090943e-03 1.21185502e+02] [ 9.26957070e-01 3.75151322e-01 -3.47504735e-03 7.99862318e+01] [ 3.76180142e-03 -3.20021908e-05 9.99992924e-01 5.54226965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25088847899997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:121.20, Y:80.01, Z:0.56 [[ 3.73539879e-01 -9.27613004e-01 -1.44001008e-03 1.21196405e+02] [ 9.27606494e-01 3.73542652e-01 -3.47541999e-03 8.00123904e+01] [ 3.76174996e-03 -3.75547397e-05 9.99992924e-01 5.55029555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28088847899997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:121.21, Y:80.04, Z:0.56 [[ 3.70484565e-01 -9.28837508e-01 -1.43909269e-03 1.21206913e+02] [ 9.28831006e-01 3.70487357e-01 -3.47579981e-03 8.00384786e+01] [ 3.76161889e-03 -4.89437309e-05 9.99992924e-01 5.56460362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31088847899997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:121.22, Y:80.06, Z:0.56 [[ 3.68968213e-01 -9.29440902e-01 -1.43810053e-03 1.21217103e+02] [ 9.29434403e-01 3.68971011e-01 -3.47621027e-03 8.00638140e+01] [ 3.76154942e-03 -5.40090138e-05 9.99992924e-01 5.56037142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34088847899997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:121.23, Y:80.09, Z:0.55 [[ 3.70096377e-01 -9.28992253e-01 -1.43720798e-03 1.21233893e+02] [ 9.28985749e-01 3.70099165e-01 -3.47657925e-03 8.00919538e+01] [ 3.76162466e-03 -4.84763439e-05 9.99992924e-01 5.54411051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.25, Y:80.12, Z:0.55 [[ 3.69195326e-01 -9.29350637e-01 -1.48508049e-03 1.21245792e+02] [ 9.29344213e-01 3.69198298e-01 -3.45679729e-03 8.01198816e+01] [ 3.76086595e-03 -1.03917557e-04 9.99992923e-01 5.53844024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.25, Y:80.14, Z:0.55 [[ 3.65056920e-01 -9.30983993e-01 -1.49980513e-03 1.21247183e+02] [ 9.30977608e-01 3.65059975e-01 -3.45071339e-03 8.01406631e+01] [ 3.76007775e-03 -1.36578195e-04 9.99992922e-01 5.53500822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43088847899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.26, Y:80.17, Z:0.55 [[ 3.64265559e-01 -9.31294018e-01 -1.43311953e-03 1.21256894e+02] [ 9.31287526e-01 3.64268372e-01 -3.47818988e-03 8.01659492e+01] [ 3.76125755e-03 -6.76615575e-05 9.99992924e-01 5.52670909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46088847899998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:121.27, Y:80.19, Z:0.55 [[ 3.65675186e-01 -9.30741424e-01 -1.43543614e-03 1.21266246e+02] [ 9.30734931e-01 3.65677998e-01 -3.47723583e-03 8.01908260e+01] [ 3.76131484e-03 -6.44716921e-05 9.99992924e-01 5.52613615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49088847899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:121.28, Y:80.22, Z:0.55 [[ 3.65990698e-01 -9.30617408e-01 -1.43155876e-03 1.21275563e+02] [ 9.30610907e-01 3.65993493e-01 -3.47883140e-03 8.02170160e+01] [ 3.76140225e-03 -5.90042660e-05 9.99992924e-01 5.53214521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.28, Y:80.24, Z:0.55 [[ 3.66626613e-01 -9.30367067e-01 -1.43050620e-03 1.21284652e+02] [ 9.30360563e-01 3.66629400e-01 -3.47926416e-03 8.02425179e+01] [ 3.76145842e-03 -5.52957182e-05 9.99992924e-01 5.54073743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55088847899998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:121.29, Y:80.27, Z:0.55 [[ 3.67417263e-01 -9.30055112e-01 -1.42931147e-03 1.21293309e+02] [ 9.30048604e-01 3.67420040e-01 -3.47975489e-03 8.02681131e+01] [ 3.76152151e-03 -5.08071172e-05 9.99992924e-01 5.52947450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58088847899998 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:121.31, Y:80.29, Z:0.55 [[ 3.72587612e-01 -9.27995927e-01 -1.42511259e-03 1.21305535e+02] [ 9.27989397e-01 3.72590337e-01 -3.48147827e-03 8.02937602e+01] [ 3.76178083e-03 -2.53336943e-05 9.99992924e-01 5.51872453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61088847899998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:121.31, Y:80.32, Z:0.55 [[ 3.70641530e-01 -9.28774861e-01 -1.45404014e-03 1.21311990e+02] [ 9.28768382e-01 3.70644376e-01 -3.46959994e-03 8.03202003e+01] [ 3.76140900e-03 -6.44886804e-05 9.99992924e-01 5.49635262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.32, Y:80.35, Z:0.55 [[ 3.72231250e-01 -9.28138902e-01 -1.44039776e-03 1.21320369e+02] [ 9.28132397e-01 3.72234035e-01 -3.47518096e-03 8.03455336e+01] [ 3.76161571e-03 -4.33088721e-05 9.99992924e-01 5.53121359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67088847899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:121.33, Y:80.37, Z:0.55 [[ 3.73740468e-01 -9.27532230e-01 -1.42329879e-03 1.21330320e+02] [ 9.27525693e-01 3.73743178e-01 -3.48216998e-03 8.03704285e+01] [ 3.76177309e-03 -1.87183567e-05 9.99992924e-01 5.48035445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70088847899999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.34, Y:80.40, Z:0.55 [[ 3.76142220e-01 -9.26560849e-01 -1.42260953e-03 1.21338147e+02] [ 9.26554305e-01 3.76144910e-01 -3.48245154e-03 8.03983084e+01] [ 3.76181059e-03 -8.22792912e-06 9.99992924e-01 5.51732588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:121.35, Y:80.42, Z:0.55 [[ 3.77473265e-01 -9.26019383e-01 -1.42709510e-03 1.21347400e+02] [ 9.26012842e-01 3.77475963e-01 -3.48062013e-03 8.04246503e+01] [ 3.76181580e-03 -7.66734453e-06 9.99992924e-01 5.51635082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.36, Y:80.45, Z:0.55 [[ 3.79131110e-01 -9.25341869e-01 -1.42402147e-03 1.21359563e+02] [ 9.25335318e-01 3.79133784e-01 -3.48187418e-03 8.04522192e+01] [ 3.76181861e-03 2.38946018e-06 9.99992924e-01 5.48112560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.37, Y:80.48, Z:0.55 [[ 3.82226314e-01 -9.24067630e-01 -1.43529776e-03 1.21371413e+02] [ 9.24061088e-01 3.82229009e-01 -3.47727604e-03 8.04801408e+01] [ 3.76185067e-03 2.80358920e-06 9.99992924e-01 5.48710926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.820888479 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:121.38, Y:80.50, Z:0.55 [[ 3.81136770e-01 -9.24517531e-01 -1.44839327e-03 1.21377690e+02] [ 9.24511011e-01 3.81139522e-01 -3.47193990e-03 8.05048414e+01] [ 3.76190922e-03 -1.57715718e-05 9.99992924e-01 5.49911165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.850888479 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:121.39, Y:80.53, Z:0.55 [[ 3.81019893e-01 -9.24565753e-01 -1.41775251e-03 1.21388066e+02] [ 9.24559187e-01 3.81022530e-01 -3.48440716e-03 8.05308124e+01] [ 3.76175918e-03 1.68323297e-05 9.99992924e-01 5.48236651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.880888479 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:121.39, Y:80.55, Z:0.55 [[ 3.78412708e-01 -9.25635908e-01 -1.41005447e-03 1.21393859e+02] [ 9.25629338e-01 3.78415335e-01 -3.48753669e-03 8.05542555e+01] [ 3.76177542e-03 1.45404157e-05 9.99992924e-01 5.47430086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.910888479 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:121.41, Y:80.58, Z:0.55 [[ 3.81461152e-01 -9.24383864e-01 -1.36472697e-03 1.21408984e+02] [ 9.24377218e-01 3.81463586e-01 -3.50593865e-03 8.05841721e+01] [ 3.76142676e-03 7.58568727e-05 9.99992923e-01 5.50169058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.940888479 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:121.42, Y:80.61, Z:0.55 [[ 3.82125653e-01 -9.24109290e-01 -1.41605436e-03 1.21423273e+02] [ 9.24102719e-01 3.82128276e-01 -3.48508338e-03 8.06122609e+01] [ 3.76171234e-03 2.31600850e-05 9.99992924e-01 5.50270686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.970888479 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:121.43, Y:80.63, Z:0.55 [[ 3.74348366e-01 -9.27287025e-01 -1.44032877e-03 1.21425189e+02] [ 9.27280513e-01 3.74351136e-01 -3.47522063e-03 8.06319797e+01] [ 3.76171571e-03 -3.46456373e-05 9.99992924e-01 5.46604911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00088847899997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:121.44, Y:80.66, Z:0.55 [[ 3.77668056e-01 -9.25940060e-01 -1.35825311e-03 1.21442967e+02] [ 9.25933415e-01 3.77670492e-01 -3.50852213e-03 8.06604564e+01] [ 3.76165331e-03 6.74047933e-05 9.99992923e-01 5.49402981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03088847899997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:121.45, Y:80.69, Z:0.55 [[ 3.76404078e-01 -9.26454514e-01 -1.41572644e-03 1.21454100e+02] [ 9.26447958e-01 3.76406741e-01 -3.48517568e-03 8.06855360e+01] [ 3.76174571e-03 2.37474349e-07 9.99992925e-01 5.49853518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06088847899997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:121.46, Y:80.71, Z:0.55 [[ 3.75191302e-01 -9.26946323e-01 -1.41469818e-03 1.21464965e+02] [ 9.26939769e-01 3.75193969e-01 -3.48559302e-03 8.07109381e+01] [ 3.76174386e-03 -3.57581932e-06 9.99992925e-01 5.49456219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.48, Y:80.74, Z:0.55 [[ 3.73329689e-01 -9.27697658e-01 -1.41374150e-03 1.21475537e+02] [ 9.27691109e-01 3.73332366e-01 -3.48598100e-03 8.07372454e+01] [ 3.76173187e-03 -1.00952126e-05 9.99992925e-01 5.47846396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12088847899997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:121.49, Y:80.76, Z:0.55 [[ 3.72629114e-01 -9.27979282e-01 -1.41278993e-03 1.21486073e+02] [ 9.27972733e-01 3.72631792e-01 -3.48636661e-03 8.07630001e+01] [ 3.76172643e-03 -1.19088272e-05 9.99992925e-01 5.47131453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.48, Y:80.78, Z:0.54 [[ 3.64049736e-01 -9.31378439e-01 -1.41182080e-03 1.21484898e+02] [ 9.31371913e-01 3.64052471e-01 -3.48675902e-03 8.07800113e+01] [ 3.76146902e-03 -4.55765339e-05 9.99992925e-01 5.42698102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18088847899998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:121.51, Y:80.81, Z:0.55 [[ 3.71656223e-01 -9.28369516e-01 -1.30145512e-03 1.21510304e+02] [ 9.28362806e-01 3.71658487e-01 -3.53130580e-03 8.08119239e+01] [ 3.76205350e-03 1.04209245e-04 9.99992918e-01 5.48287880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21088847899998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:121.52, Y:80.83, Z:0.55 [[ 3.73034166e-01 -9.27816533e-01 -1.41130279e-03 1.21520640e+02] [ 9.27809981e-01 3.73036835e-01 -3.48684491e-03 8.08339712e+01] [ 3.76162029e-03 -8.70853137e-06 9.99992925e-01 5.48662077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.53, Y:80.86, Z:0.55 [[ 3.68798916e-01 -9.29508167e-01 -1.38796379e-03 1.21531577e+02] [ 9.29501592e-01 3.68801528e-01 -3.49630548e-03 8.08617716e+01] [ 3.76172767e-03 -6.80874912e-07 9.99992925e-01 5.46817976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27088847899998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:121.54, Y:80.89, Z:0.55 [[ 3.70459339e-01 -9.28847617e-01 -1.40784047e-03 1.21543230e+02] [ 9.28841067e-01 3.70462014e-01 -3.48824970e-03 8.08865500e+01] [ 3.76160384e-03 -1.54053676e-05 9.99992925e-01 5.47330788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.55, Y:80.91, Z:0.55 [[ 3.69254983e-01 -9.29327051e-01 -1.41076571e-03 1.21554522e+02] [ 9.29320509e-01 3.69257677e-01 -3.48706493e-03 8.09146698e+01] [ 3.76155983e-03 -2.34374063e-05 9.99992925e-01 5.47656327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33088847899998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:121.56, Y:80.94, Z:0.55 [[ 3.70071524e-01 -9.29002172e-01 -1.42551726e-03 1.21564954e+02] [ 9.28995650e-01 3.70074268e-01 -3.48109764e-03 8.09379491e+01] [ 3.76149453e-03 -3.60442277e-05 9.99992925e-01 5.47641158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36088847899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:121.58, Y:80.96, Z:0.55 [[ 3.70522197e-01 -9.28822542e-01 -1.40942491e-03 1.21577897e+02] [ 9.28815995e-01 3.70524877e-01 -3.48760096e-03 8.09627658e+01] [ 3.76158938e-03 -1.68628300e-05 9.99992925e-01 5.47440155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.59, Y:80.99, Z:0.55 [[ 3.70580039e-01 -9.28799468e-01 -1.40846263e-03 1.21589575e+02] [ 9.28792918e-01 3.70582715e-01 -3.48798953e-03 8.09885019e+01] [ 3.76159472e-03 -1.55908246e-05 9.99992925e-01 5.47538849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:81.01, Z:0.55 [[ 3.70073709e-01 -9.29001329e-01 -1.40747930e-03 1.21601013e+02] [ 9.28994780e-01 3.70076385e-01 -3.48838628e-03 8.10145966e+01] [ 3.76159034e-03 -1.65808704e-05 9.99992925e-01 5.47358173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:81.04, Z:0.55 [[ 3.69784613e-01 -9.29116428e-01 -1.41527477e-03 1.21611578e+02] [ 9.29109892e-01 3.69787321e-01 -3.48524136e-03 8.10411873e+01] [ 3.76154567e-03 -2.61571611e-05 9.99992925e-01 5.47469250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:121.62, Y:81.07, Z:0.55 [[ 3.70558673e-01 -9.28807984e-01 -1.41396463e-03 1.21623603e+02] [ 9.28801443e-01 3.70561370e-01 -3.48576939e-03 8.10658913e+01] [ 3.76157111e-03 -2.16103046e-05 9.99992925e-01 5.46699231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.64, Y:81.09, Z:0.55 [[ 3.70431330e-01 -9.28858792e-01 -1.40503873e-03 1.21635204e+02] [ 9.28852238e-01 3.70433994e-01 -3.48936352e-03 8.10916755e+01] [ 3.76160009e-03 -1.25038025e-05 9.99992925e-01 5.46186077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:121.65, Y:81.12, Z:0.55 [[ 3.70145330e-01 -9.28972800e-01 -1.40406853e-03 1.21646867e+02] [ 9.28966246e-01 3.70147992e-01 -3.48975387e-03 8.11173418e+01] [ 3.76159957e-03 -1.26161798e-05 9.99992925e-01 5.46341695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.570888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.65, Y:81.13, Z:0.54 [[ 3.60417299e-01 -9.32790117e-01 -1.40310312e-03 1.21645627e+02] [ 9.32783589e-01 3.60420027e-01 -3.49014198e-03 8.11334518e+01] [ 3.76127641e-03 -5.08840172e-05 9.99992925e-01 5.40049527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.600888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:121.67, Y:81.17, Z:0.55 [[ 3.67674026e-01 -9.29953833e-01 -1.29622286e-03 1.21671549e+02] [ 9.29947126e-01 3.67676299e-01 -3.53293418e-03 8.11668642e+01] [ 3.76205611e-03 9.35494133e-05 9.99992919e-01 5.47114381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.630888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.68, Y:81.19, Z:0.55 [[ 3.66962393e-01 -9.30234704e-01 -1.41335464e-03 1.21683699e+02] [ 9.30228173e-01 3.66965113e-01 -3.48590699e-03 8.11935616e+01] [ 3.76136350e-03 -3.55455297e-05 9.99992925e-01 5.46779357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.660888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.69, Y:81.22, Z:0.55 [[ 3.67191058e-01 -9.30144463e-01 -1.41626869e-03 1.21694649e+02] [ 9.30137936e-01 3.67193787e-01 -3.48473787e-03 8.12181112e+01] [ 3.76135470e-03 -3.77606511e-05 9.99992925e-01 5.46247557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.690888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:121.71, Y:81.24, Z:0.54 [[ 3.65577081e-01 -9.30780017e-01 -1.39898353e-03 1.21706685e+02] [ 9.30773468e-01 3.65579757e-01 -3.49166342e-03 8.12435867e+01] [ 3.76141059e-03 -2.56646270e-05 9.99992926e-01 5.44444990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:81.27, Z:0.55 [[ 3.66430811e-01 -9.30444233e-01 -1.41081027e-03 1.21717899e+02] [ 9.30437700e-01 3.66433526e-01 -3.48692700e-03 8.12678126e+01] [ 3.76135930e-03 -3.49535722e-05 9.99992925e-01 5.45334896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:81.29, Z:0.55 [[ 3.66245014e-01 -9.30517404e-01 -1.39677192e-03 1.21729451e+02] [ 9.30510850e-01 3.66247677e-01 -3.49254135e-03 8.12934309e+01] [ 3.76143499e-03 -2.05855711e-05 9.99992926e-01 5.45360519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:121.74, Y:81.32, Z:0.55 [[ 3.65971102e-01 -9.30625168e-01 -1.39582227e-03 1.21740550e+02] [ 9.30618614e-01 3.65973764e-01 -3.49292085e-03 8.13182459e+01] [ 3.76143438e-03 -2.06700959e-05 9.99992926e-01 5.45215934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:81.34, Z:0.55 [[ 3.65642825e-01 -9.30754199e-01 -1.39482119e-03 1.21753400e+02] [ 9.30747644e-01 3.65645485e-01 -3.49332056e-03 8.13435148e+01] [ 3.76143285e-03 -2.09189334e-05 9.99992926e-01 5.45526013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:81.37, Z:0.55 [[ 3.65105588e-01 -9.30965073e-01 -1.39385803e-03 1.21764414e+02] [ 9.30958518e-01 3.65108248e-01 -3.49370483e-03 8.13677790e+01] [ 3.76142623e-03 -2.20528512e-05 9.99992926e-01 5.45501109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:81.39, Z:0.55 [[ 3.64594932e-01 -9.31165182e-01 -1.39284366e-03 1.21775390e+02] [ 9.31158626e-01 3.64597591e-01 -3.49410918e-03 8.13925591e+01] [ 3.76142026e-03 -2.30238859e-05 9.99992926e-01 5.45133004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:81.42, Z:0.54 [[ 3.64387108e-01 -9.31246529e-01 -1.39183834e-03 1.21786941e+02] [ 9.31239973e-01 3.64389766e-01 -3.49450959e-03 8.14185692e+01] [ 3.76142158e-03 -2.27812574e-05 9.99992926e-01 5.44568287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:81.44, Z:0.55 [[ 3.64404520e-01 -9.31239717e-01 -1.39092357e-03 1.21797097e+02] [ 9.31233159e-01 3.64407174e-01 -3.49487366e-03 8.14428457e+01] [ 3.76142769e-03 -2.17263950e-05 9.99992926e-01 5.45488395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96088847899998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:121.80, Y:81.47, Z:0.54 [[ 3.61762985e-01 -9.32269067e-01 -1.38883869e-03 1.21804361e+02] [ 9.32262514e-01 3.61765650e-01 -3.49570293e-03 8.14671766e+01] [ 3.76136984e-03 -3.01463180e-05 9.99992926e-01 5.41976183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99088847899998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:121.81, Y:81.49, Z:0.54 [[ 3.60972483e-01 -9.32575472e-01 -1.36239936e-03 1.21814617e+02] [ 9.32568880e-01 3.60975054e-01 -3.50622477e-03 8.14923706e+01] [ 3.76161140e-03 -4.88058583e-06 9.99992925e-01 5.41573330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:81.52, Z:0.55 [[ 3.63875488e-01 -9.31446612e-01 -1.35608829e-03 1.21831732e+02] [ 9.31440003e-01 3.63878015e-01 -3.50873497e-03 8.15187529e+01] [ 3.76165002e-03 1.36277678e-05 9.99992925e-01 5.45505276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:81.54, Z:0.55 [[ 3.63302599e-01 -9.31670160e-01 -1.39096074e-03 1.21842641e+02] [ 9.31663605e-01 3.63305261e-01 -3.49485566e-03 8.15443859e+01] [ 3.76139609e-03 -2.62173578e-05 9.99992926e-01 5.46473461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:81.57, Z:0.55 [[ 3.62546301e-01 -9.31964724e-01 -1.39003046e-03 1.21853339e+02] [ 9.31958171e-01 3.62548965e-01 -3.49522563e-03 8.15700555e+01] [ 3.76138109e-03 -2.82691182e-05 9.99992926e-01 5.46552571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11088847899998 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:121.86, Y:81.59, Z:0.55 [[ 3.62318835e-01 -9.32053181e-01 -1.38910243e-03 1.21863787e+02] [ 9.32046626e-01 3.62321497e-01 -3.49559441e-03 8.15949020e+01] [ 3.76138156e-03 -2.81885356e-05 9.99992926e-01 5.45154074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14088847899998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:121.87, Y:81.62, Z:0.55 [[ 3.60957739e-01 -9.32581141e-01 -1.38805500e-03 1.21874028e+02] [ 9.32574588e-01 3.60960406e-01 -3.49601029e-03 8.16197152e+01] [ 3.76134616e-03 -3.25528484e-05 9.99992926e-01 5.46112341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:81.65, Z:0.55 [[ 3.59957385e-01 -9.32967715e-01 -1.38690904e-03 1.21884811e+02] [ 9.32961164e-01 3.59960055e-01 -3.49646484e-03 8.16461649e+01] [ 3.76132067e-03 -3.53539338e-05 9.99992926e-01 5.46370119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:81.67, Z:0.55 [[ 3.58896541e-01 -9.33376319e-01 -1.38593863e-03 1.21895558e+02] [ 9.33369769e-01 3.58899215e-01 -3.49684945e-03 8.16723899e+01] [ 3.76128875e-03 -3.85860466e-05 9.99992926e-01 5.46920548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:81.70, Z:0.55 [[ 3.57382839e-01 -9.33956952e-01 -1.38497577e-03 1.21905743e+02] [ 9.33950405e-01 3.57385520e-01 -3.49723077e-03 8.16970387e+01] [ 3.76123327e-03 -4.36484222e-05 9.99992926e-01 5.47072409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:81.72, Z:0.55 [[ 3.56339792e-01 -9.34355413e-01 -1.38396144e-03 1.21916044e+02] [ 9.34348867e-01 3.56342476e-01 -3.49763212e-03 8.17220027e+01] [ 3.76119575e-03 -4.67573041e-05 9.99992926e-01 5.47067468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:121.93, Y:81.75, Z:0.55 [[ 3.54230010e-01 -9.35157306e-01 -1.38299224e-03 1.21926674e+02] [ 9.35150765e-01 3.54232706e-01 -3.49801531e-03 8.17479846e+01] [ 3.76109566e-03 -5.42042503e-05 9.99992926e-01 5.47813862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:81.77, Z:0.55 [[ 3.53176452e-01 -9.35555708e-01 -1.38208562e-03 1.21937237e+02] [ 9.35549169e-01 3.53179152e-01 -3.49837348e-03 8.17745301e+01] [ 3.76104711e-03 -5.74659154e-05 9.99992926e-01 5.48355588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:81.80, Z:0.54 [[ 3.48164008e-01 -9.37432619e-01 -1.38114876e-03 1.21942106e+02] [ 9.37426093e-01 3.48166740e-01 -3.49874331e-03 8.17988678e+01] [ 3.76070617e-03 -7.65883870e-05 9.99992926e-01 5.44082967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.380888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:121.95, Y:81.82, Z:0.54 [[ 3.45632816e-01 -9.38368878e-01 -1.34347976e-03 1.21951121e+02] [ 9.38362301e-01 3.45635424e-01 -3.51358939e-03 8.18238066e+01] [ 3.76139713e-03 -4.62589713e-05 9.99992925e-01 5.43975246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:81.84, Z:0.54 [[ 3.40357142e-01 -9.40295298e-01 -1.32975145e-03 1.21951801e+02] [ 9.40288715e-01 3.40359736e-01 -3.51899406e-03 8.18441406e+01] [ 3.76148742e-03 -5.26355265e-05 9.99992924e-01 5.40939136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:81.88, Z:0.55 [[ 3.50616354e-01 -9.36518348e-01 -1.24708230e-03 1.21977783e+02] [ 9.36511617e-01 3.50618564e-01 -3.55151296e-03 8.18778250e+01] [ 3.76330726e-03 7.73114632e-05 9.99992916e-01 5.47973948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:81.90, Z:0.55 [[ 3.50284650e-01 -9.36642278e-01 -1.38107591e-03 1.21987209e+02] [ 9.36635746e-01 3.50287366e-01 -3.49861918e-03 8.19038480e+01] [ 3.76072808e-03 -6.80524762e-05 9.99992926e-01 5.48147536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:81.93, Z:0.54 [[ 3.46698749e-01 -9.37975518e-01 -1.38011509e-03 1.21991261e+02] [ 9.37968995e-01 3.46701486e-01 -3.49899816e-03 8.19293790e+01] [ 3.76046256e-03 -8.14068837e-05 9.99992926e-01 5.43434291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53088847899997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:122.01, Y:81.96, Z:0.55 [[ 3.51487798e-01 -9.36191501e-01 -1.34199830e-03 1.22006449e+02] [ 9.36184906e-01 3.51490359e-01 -3.51401329e-03 8.19566672e+01] [ 3.76148884e-03 -2.12257563e-05 9.99992925e-01 5.48987429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:81.98, Z:0.55 [[ 3.52376631e-01 -9.35857258e-01 -1.37915201e-03 1.22015754e+02] [ 9.35850717e-01 3.52379326e-01 -3.49937048e-03 8.19824194e+01] [ 3.76089592e-03 -5.75840161e-05 9.99992926e-01 5.49427888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:82.01, Z:0.55 [[ 3.53306355e-01 -9.35506665e-01 -1.37812527e-03 1.22024961e+02] [ 9.35500120e-01 3.53309039e-01 -3.49977478e-03 8.20091998e+01] [ 3.76096675e-03 -5.27436858e-05 9.99992926e-01 5.49695986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:82.04, Z:0.55 [[ 3.56691008e-01 -9.34221402e-01 -1.37714568e-03 1.22032762e+02] [ 9.34214846e-01 3.56693664e-01 -3.50016021e-03 8.20361533e+01] [ 3.76114371e-03 -3.80742690e-05 9.99992926e-01 5.49547509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:82.06, Z:0.55 [[ 3.58422080e-01 -9.33558632e-01 -1.37617705e-03 1.22041483e+02] [ 9.33552069e-01 3.58424720e-01 -3.50054101e-03 8.20624013e+01] [ 3.76121615e-03 -3.00617418e-05 9.99992926e-01 5.49287045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68088847899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:122.05, Y:82.09, Z:0.55 [[ 3.60194696e-01 -9.32876139e-01 -1.37519089e-03 1.22050187e+02] [ 9.32869570e-01 3.60197321e-01 -3.50092838e-03 8.20876703e+01] [ 3.76127262e-03 -2.18579018e-05 9.99992926e-01 5.48901483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.06, Y:82.11, Z:0.55 [[ 3.63567092e-01 -9.31567003e-01 -1.37415110e-03 1.22058465e+02] [ 9.31560423e-01 3.63569689e-01 -3.50133646e-03 8.21141835e+01] [ 3.76132920e-03 -7.13406345e-06 9.99992926e-01 5.49405619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:82.14, Z:0.55 [[ 3.64851517e-01 -9.31064705e-01 -1.37318167e-03 1.22068082e+02] [ 9.31058120e-01 3.64854101e-01 -3.50171662e-03 8.21407504e+01] [ 3.76133571e-03 -9.05323073e-07 9.99992926e-01 5.49941152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:82.17, Z:0.55 [[ 3.65661855e-01 -9.30746757e-01 -1.37221643e-03 1.22077281e+02] [ 9.30740168e-01 3.65664430e-01 -3.50209482e-03 8.21667953e+01] [ 3.76133414e-03 3.40553681e-06 9.99992926e-01 5.50012405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.09, Y:82.19, Z:0.55 [[ 3.65951711e-01 -9.30632830e-01 -1.37124551e-03 1.22086206e+02] [ 9.30626239e-01 3.65954280e-01 -3.50247494e-03 8.21922813e+01] [ 3.76133134e-03 5.61964602e-06 9.99992926e-01 5.50026343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.09, Y:82.22, Z:0.55 [[ 3.66276512e-01 -9.30505045e-01 -1.37022191e-03 1.22094986e+02] [ 9.30498452e-01 3.66279075e-01 -3.50287535e-03 8.22193442e+01] [ 3.76132680e-03 8.03159606e-06 9.99992926e-01 5.50818471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.10, Y:82.24, Z:0.55 [[ 3.65953767e-01 -9.30632025e-01 -1.36923487e-03 1.22104528e+02] [ 9.30625431e-01 3.65956328e-01 -3.50326113e-03 8.22446219e+01] [ 3.76132716e-03 7.78681185e-06 9.99992926e-01 5.51422425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:82.27, Z:0.55 [[ 3.65228872e-01 -9.30916751e-01 -1.36851451e-03 1.22114426e+02] [ 9.30910159e-01 3.65231436e-01 -3.50354251e-03 8.22705295e+01] [ 3.76133093e-03 5.63081328e-06 9.99992926e-01 5.52554145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:82.30, Z:0.55 [[ 3.63868351e-01 -9.31449383e-01 -1.36754750e-03 1.22124256e+02] [ 9.31442793e-01 3.63870920e-01 -3.50391992e-03 8.22970260e+01] [ 3.76133482e-03 1.17329772e-06 9.99992926e-01 5.53199898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:82.32, Z:0.55 [[ 3.60727467e-01 -9.32670267e-01 -1.36656592e-03 1.22133324e+02] [ 9.32663684e-01 3.60730055e-01 -3.50430271e-03 8.23235530e+01] [ 3.76132034e-03 -1.04481654e-05 9.99992926e-01 5.53179767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.14, Y:82.35, Z:0.55 [[ 3.58754957e-01 -9.33430777e-01 -1.36558613e-03 1.22142878e+02] [ 9.33424198e-01 3.58757555e-01 -3.50468448e-03 8.23494388e+01] [ 3.76129470e-03 -1.73482086e-05 9.99992926e-01 5.52681617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:82.38, Z:0.55 [[ 3.56826188e-01 -9.34169795e-01 -1.36551814e-03 1.22152773e+02] [ 9.34163221e-01 3.56828800e-01 -3.50471095e-03 8.23759624e+01] [ 3.76125131e-03 -2.50441765e-05 9.99992926e-01 5.52193909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.16, Y:82.40, Z:0.55 [[ 3.52475699e-01 -9.35819973e-01 -1.36385978e-03 1.22162192e+02] [ 9.35813408e-01 3.52478335e-01 -3.50535618e-03 8.24019086e+01] [ 3.76111335e-03 -4.07653990e-05 9.99992926e-01 5.51023287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:82.43, Z:0.55 [[ 3.50420045e-01 -9.36591652e-01 -1.36700539e-03 1.22171878e+02] [ 9.36585099e-01 3.50422708e-01 -3.50413297e-03 8.24279939e+01] [ 3.76097142e-03 -5.23984491e-05 9.99992926e-01 5.51705568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.100888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:122.18, Y:82.45, Z:0.55 [[ 3.47850880e-01 -9.37548889e-01 -1.35839243e-03 1.22181834e+02] [ 9.37542330e-01 3.47853529e-01 -3.50747987e-03 8.24539603e+01] [ 3.76095546e-03 -5.34704453e-05 9.99992926e-01 5.53121150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:82.48, Z:0.55 [[ 3.45337360e-01 -9.38477625e-01 -1.36222864e-03 1.22193476e+02] [ 9.38471078e-01 3.45340041e-01 -3.50599004e-03 8.24814623e+01] [ 3.76072530e-03 -6.76628354e-05 9.99992926e-01 5.52591004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.160888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:122.20, Y:82.51, Z:0.55 [[ 3.39904514e-01 -9.40458937e-01 -1.38144952e-03 1.22200501e+02] [ 9.40452436e-01 3.39907304e-01 -3.49852714e-03 8.25069840e+01] [ 3.75978590e-03 -1.10022400e-04 9.99992926e-01 5.53205846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.190888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:122.21, Y:82.53, Z:0.55 [[ 3.38756457e-01 -9.40873105e-01 -1.36488423e-03 1.22209658e+02] [ 9.40866582e-01 3.38759192e-01 -3.50495152e-03 8.25337386e+01] [ 3.76008170e-03 -9.68490055e-05 9.99992926e-01 5.54024147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.220888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.22, Y:82.56, Z:0.55 [[ 3.36765558e-01 -9.41587549e-01 -1.35885723e-03 1.22219197e+02] [ 9.41581022e-01 3.36768286e-01 -3.50728661e-03 8.25604808e+01] [ 3.76003743e-03 -9.83408437e-05 9.99992926e-01 5.54352489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.23, Y:82.59, Z:0.56 [[ 3.37656567e-01 -9.41268399e-01 -1.35786652e-03 1.22234661e+02] [ 9.41261868e-01 3.37659285e-01 -3.50767013e-03 8.25896921e+01] [ 3.76015529e-03 -9.37201256e-05 9.99992926e-01 5.55009803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:82.61, Z:0.56 [[ 3.37687561e-01 -9.41257215e-01 -1.40225349e-03 1.22244855e+02] [ 9.41250754e-01 3.37690443e-01 -3.49047630e-03 8.26142828e+01] [ 3.75896360e-03 -1.41181727e-04 9.99992925e-01 5.55934461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:122.25, Y:82.64, Z:0.56 [[ 3.32795012e-01 -9.42998148e-01 -1.40450532e-03 1.22246697e+02] [ 9.42991705e-01 3.32797936e-01 -3.48960291e-03 8.26374088e+01] [ 3.75810555e-03 -1.63114426e-04 9.99992925e-01 5.56666182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:122.26, Y:82.66, Z:0.56 [[ 3.32538680e-01 -9.43088640e-01 -1.35758158e-03 1.22256928e+02] [ 9.43082123e-01 3.32541432e-01 -3.50776343e-03 8.26641131e+01] [ 3.75958397e-03 -1.13843894e-04 9.99992926e-01 5.56752694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37088847899997 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:122.27, Y:82.69, Z:0.56 [[ 3.32313798e-01 -9.43167906e-01 -1.35662802e-03 1.22266555e+02] [ 9.43161389e-01 3.32316547e-01 -3.50813218e-03 8.26907312e+01] [ 3.75958762e-03 -1.13718441e-04 9.99992926e-01 5.57389340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:122.28, Y:82.72, Z:0.56 [[ 3.32403550e-01 -9.43136280e-01 -1.35565390e-03 1.22275792e+02] [ 9.43129761e-01 3.32406295e-01 -3.50850857e-03 8.27177688e+01] [ 3.75962961e-03 -1.12316836e-04 9.99992926e-01 5.57679991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:122.28, Y:82.74, Z:0.56 [[ 3.33122777e-01 -9.42882485e-01 -1.35466503e-03 1.22284932e+02] [ 9.42875962e-01 3.33125514e-01 -3.50889034e-03 8.27442109e+01] [ 3.75974473e-03 -1.08389799e-04 9.99992926e-01 5.57875724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46088847899998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:122.29, Y:82.77, Z:0.56 [[ 3.36354706e-01 -9.41734399e-01 -1.35367714e-03 1.22292293e+02] [ 9.41727866e-01 3.36357417e-01 -3.50927141e-03 8.27705279e+01] [ 3.76012095e-03 -9.44355243e-05 9.99992926e-01 5.57897235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49088847899998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:122.30, Y:82.80, Z:0.56 [[ 3.38509105e-01 -9.40962144e-01 -1.35263460e-03 1.22300366e+02] [ 9.40955602e-01 3.38511797e-01 -3.50967321e-03 8.27959458e+01] [ 3.76035240e-03 -8.47127697e-05 9.99992926e-01 5.57570982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52088847899998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:122.31, Y:82.82, Z:0.56 [[ 3.41031279e-01 -9.40050977e-01 -1.35159965e-03 1.22308598e+02] [ 9.40044427e-01 3.41033950e-01 -3.51007173e-03 8.28228209e+01] [ 3.76058773e-03 -7.35194603e-05 9.99992926e-01 5.57932196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.32, Y:82.85, Z:0.56 [[ 3.43638220e-01 -9.39101139e-01 -1.35061611e-03 1.22316263e+02] [ 9.39094580e-01 3.43640868e-01 -3.51045014e-03 8.28487018e+01] [ 3.76079462e-03 -6.20314366e-05 9.99992926e-01 5.57786434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58088847899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:122.32, Y:82.88, Z:0.56 [[ 3.48830646e-01 -9.37184805e-01 -1.34957739e-03 1.22323037e+02] [ 9.37178230e-01 3.48833254e-01 -3.51084943e-03 8.28756989e+01] [ 3.76109221e-03 -4.01026769e-05 9.99992926e-01 5.57115435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.34, Y:82.91, Z:0.56 [[ 3.57408136e-01 -9.33947325e-01 -1.34859756e-03 1.22344476e+02] [ 9.33940725e-01 3.57410680e-01 -3.51122576e-03 8.29088989e+01] [ 3.76130308e-03 -4.56952749e-06 9.99992926e-01 5.55746644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.35, Y:82.93, Z:0.56 [[ 3.58537268e-01 -9.33514269e-01 -1.46209996e-03 1.22352405e+02] [ 9.33507837e-01 3.58540228e-01 -3.46747244e-03 8.29342305e+01] [ 3.76115666e-03 -1.21663677e-04 9.99992919e-01 5.55283188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67088847899998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.35, Y:82.96, Z:0.56 [[ 3.57980947e-01 -9.33727764e-01 -1.45063441e-03 1.22354940e+02] [ 9.33721316e-01 3.57983869e-01 -3.47189114e-03 8.29580370e+01] [ 3.76110486e-03 -1.11617390e-04 9.99992921e-01 5.57433223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70088847899999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.37, Y:82.98, Z:0.56 [[ 3.62251129e-01 -9.32079478e-01 -1.40216063e-03 1.22367930e+02] [ 9.32072943e-01 3.62253840e-01 -3.49051004e-03 8.29840296e+01] [ 3.76137085e-03 -4.24747800e-05 9.99992925e-01 5.56297287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.38, Y:83.01, Z:0.56 [[ 3.61369457e-01 -9.32421637e-01 -1.41679686e-03 1.22377255e+02] [ 9.32415126e-01 3.61372229e-01 -3.48490369e-03 8.30137775e+01] [ 3.76139064e-03 -6.17050663e-05 9.99992924e-01 5.57075477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:122.38, Y:83.04, Z:0.56 [[ 3.59415986e-01 -9.33176351e-01 -1.43041183e-03 1.22382494e+02] [ 9.33169867e-01 3.59418823e-01 -3.47969809e-03 8.30385624e+01] [ 3.76128890e-03 -8.41580976e-05 9.99992923e-01 5.58489781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:83.07, Z:0.56 [[ 3.61517998e-01 -9.32364089e-01 -1.39369998e-03 1.22392318e+02] [ 9.32357544e-01 3.61520683e-01 -3.49370139e-03 8.30654119e+01] [ 3.76125308e-03 -3.63907612e-05 9.99992926e-01 5.57943679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.820888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:122.40, Y:83.09, Z:0.56 [[ 3.60244055e-01 -9.32857045e-01 -1.39813877e-03 1.22395987e+02] [ 9.32850510e-01 3.60246765e-01 -3.49200931e-03 8.30868677e+01] [ 3.76122045e-03 -4.62788766e-05 9.99992926e-01 5.57680949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.850888479 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:122.41, Y:83.12, Z:0.56 [[ 3.62697004e-01 -9.31906163e-01 -1.33635429e-03 1.22411742e+02] [ 9.31899533e-01 3.62699465e-01 -3.51549561e-03 8.31167830e+01] [ 3.76080701e-03 2.97117827e-05 9.99992928e-01 5.57696214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.880888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.42, Y:83.14, Z:0.56 [[ 3.61429087e-01 -9.32398556e-01 -1.39575721e-03 1.22415357e+02] [ 9.32392014e-01 3.61431780e-01 -3.49288784e-03 8.31385227e+01] [ 3.76123459e-03 -3.89616072e-05 9.99992926e-01 5.57486849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.910888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.42, Y:83.17, Z:0.56 [[ 3.61743271e-01 -9.32276796e-01 -1.33486141e-03 1.22424504e+02] [ 9.32270166e-01 3.61745733e-01 -3.51600710e-03 8.31654826e+01] [ 3.76077226e-03 2.74404365e-05 9.99992928e-01 5.58174581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.940888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.43, Y:83.19, Z:0.56 [[ 3.61510384e-01 -9.32367129e-01 -1.33389639e-03 1.22434301e+02] [ 9.32360499e-01 3.61512843e-01 -3.51637317e-03 8.31921888e+01] [ 3.76077144e-03 2.75331097e-05 9.99992928e-01 5.57805307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.44, Y:83.22, Z:0.56 [[ 3.60969061e-01 -9.32576839e-01 -1.33293630e-03 1.22444149e+02] [ 9.32570208e-01 3.60971521e-01 -3.51673707e-03 8.32180506e+01] [ 3.76077959e-03 2.63765947e-05 9.99992928e-01 5.58369131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.46, Y:83.24, Z:0.56 [[ 3.59579548e-01 -9.33113485e-01 -1.33194329e-03 1.22455147e+02] [ 9.33106856e-01 3.59582014e-01 -3.51711313e-03 8.32435618e+01] [ 3.76080854e-03 2.18365351e-05 9.99992928e-01 5.58970167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.47, Y:83.27, Z:0.56 [[ 3.58344736e-01 -9.33588388e-01 -1.33094687e-03 1.22465725e+02] [ 9.33581762e-01 3.58347207e-01 -3.51749015e-03 8.32696587e+01] [ 3.76082906e-03 1.79263517e-05 9.99992928e-01 5.59285682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06088847899997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:122.48, Y:83.30, Z:0.56 [[ 3.56607575e-01 -9.34253321e-01 -1.32994790e-03 1.22476127e+02] [ 9.34246698e-01 3.56610055e-01 -3.51786782e-03 8.32962996e+01] [ 3.76085249e-03 1.19988791e-05 9.99992928e-01 5.59129758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09088847899997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:122.49, Y:83.32, Z:0.56 [[ 3.55084252e-01 -9.34833358e-01 -1.32901444e-03 1.22486387e+02] [ 9.34826738e-01 3.55086739e-01 -3.51822044e-03 8.33222081e+01] [ 3.76086523e-03 6.86643825e-06 9.99992928e-01 5.58517642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:122.50, Y:83.35, Z:0.56 [[ 3.52927110e-01 -9.35649877e-01 -1.32802682e-03 1.22496371e+02] [ 9.35643260e-01 3.52929609e-01 -3.51859319e-03 8.33482705e+01] [ 3.76087127e-03 -7.52416420e-07 9.99992928e-01 5.57670257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15088847899997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:122.51, Y:83.37, Z:0.56 [[ 3.49252568e-01 -9.37027685e-01 -1.32704150e-03 1.22508045e+02] [ 9.37021077e-01 3.49255089e-01 -3.51896477e-03 8.33736727e+01] [ 3.76084341e-03 -1.44583674e-05 9.99992928e-01 5.57015006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18088847899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:122.52, Y:83.40, Z:0.56 [[ 3.47117866e-01 -9.37820574e-01 -1.32606225e-03 1.22519025e+02] [ 9.37813971e-01 3.47120398e-01 -3.51933374e-03 8.33992179e+01] [ 3.76080685e-03 -2.19760849e-05 9.99992928e-01 5.57859353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21088847899998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:122.53, Y:83.42, Z:0.56 [[ 3.45038894e-01 -9.38587453e-01 -1.32508136e-03 1.22529607e+02] [ 9.38580854e-01 3.45041437e-01 -3.51970303e-03 8.34248135e+01] [ 3.76075707e-03 -2.92615564e-05 9.99992928e-01 5.58543668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24088847899998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.54, Y:83.45, Z:0.56 [[ 3.43193978e-01 -9.39263616e-01 -1.32410273e-03 1.22539809e+02] [ 9.39257021e-01 3.43196530e-01 -3.52007114e-03 8.34509934e+01] [ 3.76070221e-03 -3.56055706e-05 9.99992928e-01 5.59181265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27088847899998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:122.53, Y:83.46, Z:0.55 [[ 3.27533943e-01 -9.44838487e-01 -1.32311615e-03 1.22531061e+02] [ 9.44831933e-01 3.27536601e-01 -3.52044194e-03 8.34647041e+01] [ 3.75961800e-03 -9.70581560e-05 9.99992928e-01 5.48168119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:122.56, Y:83.50, Z:0.56 [[ 3.39256467e-01 -9.40693218e-01 -1.14825662e-03 1.22561071e+02] [ 9.40686393e-01 3.39258383e-01 -3.58591064e-03 8.35021690e+01] [ 3.76279751e-03 1.36394000e-04 9.99992911e-01 5.58543994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33088847899998 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:122.57, Y:83.53, Z:0.56 [[ 3.37955959e-01 -9.41160993e-01 -1.32467248e-03 1.22572044e+02] [ 9.41154414e-01 3.37958550e-01 -3.51951137e-03 8.35283769e+01] [ 3.76011121e-03 -5.72815150e-05 9.99992929e-01 5.59571513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36088847899998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.59, Y:83.56, Z:0.56 [[ 3.36780454e-01 -9.41582271e-01 -1.32369826e-03 1.22585113e+02] [ 9.41575694e-01 3.36783050e-01 -3.51987774e-03 8.35564736e+01] [ 3.76005362e-03 -6.09360880e-05 9.99992929e-01 5.58011379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.59, Y:83.58, Z:0.56 [[ 3.35268339e-01 -9.42121705e-01 -1.35410566e-03 1.22592585e+02] [ 9.42115178e-01 3.35271059e-01 -3.50844003e-03 8.35795006e+01] [ 3.75936994e-03 -9.94546305e-05 9.99992929e-01 5.61017425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.60, Y:83.61, Z:0.56 [[ 3.34711645e-01 -9.42319673e-01 -1.32228521e-03 1.22602138e+02] [ 9.42313099e-01 3.34714251e-01 -3.52039203e-03 8.36051801e+01] [ 3.75992236e-03 -6.76904651e-05 9.99992929e-01 5.59807440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.61, Y:83.63, Z:0.56 [[ 3.35041401e-01 -9.42202481e-01 -1.32123964e-03 1.22612171e+02] [ 9.42195905e-01 3.35043999e-01 -3.52078440e-03 8.36319520e+01] [ 3.75996520e-03 -6.52580414e-05 9.99992929e-01 5.60559704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.62, Y:83.66, Z:0.56 [[ 3.35668124e-01 -9.41979388e-01 -1.32032032e-03 1.22621392e+02] [ 9.41972809e-01 3.35670715e-01 -3.52112911e-03 8.36581943e+01] [ 3.76002391e-03 -6.17750313e-05 9.99992929e-01 5.60413086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:122.62, Y:83.68, Z:0.55 [[ 3.30482953e-01 -9.43811039e-01 -1.31933845e-03 1.22623579e+02] [ 9.43804473e-01 3.30485576e-01 -3.52149697e-03 8.36820929e+01] [ 3.75965004e-03 -8.14028090e-05 9.99992929e-01 5.53801126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:83.71, Z:0.56 [[ 3.37159418e-01 -9.41446721e-01 -1.26408420e-03 1.22640462e+02] [ 9.41440058e-01 3.37161788e-01 -3.54215170e-03 8.37110302e+01] [ 3.76094799e-03 4.21030401e-06 9.99992928e-01 5.61046333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.65, Y:83.74, Z:0.56 [[ 3.37637169e-01 -9.41275414e-01 -1.31805708e-03 1.22649465e+02] [ 9.41268826e-01 3.37639738e-01 -3.52195287e-03 8.37365347e+01] [ 3.76015609e-03 -5.15038403e-05 9.99992929e-01 5.61297968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.600888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.66, Y:83.76, Z:0.56 [[ 3.38619330e-01 -9.40922534e-01 -1.31702618e-03 1.22658053e+02] [ 9.40915942e-01 3.38621888e-01 -3.52233833e-03 8.37631818e+01] [ 3.76022140e-03 -4.64790860e-05 9.99992929e-01 5.61599586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.67, Y:83.79, Z:0.56 [[ 3.38397572e-01 -9.41002312e-01 -1.31602718e-03 1.22667425e+02] [ 9.40995719e-01 3.38400128e-01 -3.52271154e-03 8.37899259e+01] [ 3.76022347e-03 -4.62989148e-05 9.99992929e-01 5.61657533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.660888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.68, Y:83.82, Z:0.56 [[ 3.38377674e-01 -9.41009462e-01 -1.31981986e-03 1.22676830e+02] [ 9.41002875e-01 3.38380244e-01 -3.52129558e-03 8.38158029e+01] [ 3.76017343e-03 -5.04264728e-05 9.99992929e-01 5.61734605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.690888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.69, Y:83.84, Z:0.56 [[ 3.38883016e-01 -9.40827601e-01 -1.31405721e-03 1.22686145e+02] [ 9.40821004e-01 3.38885561e-01 -3.52344474e-03 8.38406943e+01] [ 3.76026908e-03 -4.22570436e-05 9.99992929e-01 5.62382693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72088847899997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.70, Y:83.87, Z:0.56 [[ 3.38955697e-01 -9.40801422e-01 -1.31125706e-03 1.22695862e+02] [ 9.40794821e-01 3.38958231e-01 -3.52448848e-03 8.38680350e+01] [ 3.76030515e-03 -3.89784058e-05 9.99992929e-01 5.61905986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75088847899997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:122.70, Y:83.89, Z:0.56 [[ 3.38660333e-01 -9.40907783e-01 -1.31298644e-03 1.22704822e+02] [ 9.40901185e-01 3.38662875e-01 -3.52384411e-03 8.38946676e+01] [ 3.76027211e-03 -4.20042781e-05 9.99992929e-01 5.61892329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78088847899997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:122.71, Y:83.92, Z:0.56 [[ 3.38323356e-01 -9.41029003e-01 -1.31200036e-03 1.22713827e+02] [ 9.41022405e-01 3.38325898e-01 -3.52421121e-03 8.39200084e+01] [ 3.76026866e-03 -4.22987661e-05 9.99992929e-01 5.61692838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81088847899997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:122.72, Y:83.95, Z:0.56 [[ 3.37194392e-01 -9.41434131e-01 -1.31096112e-03 1.22724198e+02] [ 9.41427534e-01 3.37196937e-01 -3.52459775e-03 8.39462896e+01] [ 3.76022870e-03 -4.57002961e-05 9.99992929e-01 5.61734108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84088847899997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:122.73, Y:83.97, Z:0.56 [[ 3.36197833e-01 -9.41790476e-01 -1.30998573e-03 1.22734631e+02] [ 9.41783881e-01 3.36200381e-01 -3.52496024e-03 8.39728717e+01] [ 3.76019168e-03 -4.86394505e-05 9.99992929e-01 5.62618759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.74, Y:84.00, Z:0.56 [[ 3.35204090e-01 -9.42144630e-01 -1.30899222e-03 1.22744777e+02] [ 9.42138036e-01 3.35206642e-01 -3.52532914e-03 8.39992575e+01] [ 3.76015280e-03 -5.15466176e-05 9.99992929e-01 5.62329108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90088847899997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.75, Y:84.03, Z:0.56 [[ 3.34019265e-01 -9.42565340e-01 -1.30800441e-03 1.22753926e+02] [ 9.42558747e-01 3.34021821e-01 -3.52569561e-03 8.40252367e+01] [ 3.76010049e-03 -5.52207378e-05 9.99992929e-01 5.60808701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:122.76, Y:84.05, Z:0.56 [[ 3.33669154e-01 -9.42689338e-01 -1.30696797e-03 1.22763434e+02] [ 9.42682745e-01 3.33671709e-01 -3.52607977e-03 8.40512117e+01] [ 3.76009604e-03 -5.55120990e-05 9.99992929e-01 5.61002577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96088847899998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:122.77, Y:84.08, Z:0.56 [[ 3.33277277e-01 -9.42827954e-01 -1.30598174e-03 1.22772943e+02] [ 9.42821361e-01 3.33279831e-01 -3.52644501e-03 8.40778042e+01] [ 3.76008831e-03 -5.60234957e-05 9.99992929e-01 5.60927440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:84.10, Z:0.56 [[ 3.33192860e-01 -9.42857792e-01 -1.30499398e-03 1.22782533e+02] [ 9.42851197e-01 3.33195411e-01 -3.52681050e-03 8.41037814e+01] [ 3.76009877e-03 -5.53070586e-05 9.99992929e-01 5.61953885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02088847899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:122.79, Y:84.13, Z:0.56 [[ 3.33308247e-01 -9.42817009e-01 -1.30398389e-03 1.22791557e+02] [ 9.42810412e-01 3.33310794e-01 -3.52718393e-03 8.41288036e+01] [ 3.76012091e-03 -5.37700983e-05 9.99992929e-01 5.61367395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05088847899998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:122.79, Y:84.15, Z:0.56 [[ 3.29522952e-01 -9.44146666e-01 -1.30308062e-03 1.22793116e+02] [ 9.44140078e-01 3.29525521e-01 -3.52751760e-03 8.41512429e+01] [ 3.75989230e-03 -6.78926285e-05 9.99992929e-01 5.56089693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.81, Y:84.18, Z:0.56 [[ 3.33740763e-01 -9.42664092e-01 -1.23002593e-03 1.22809709e+02] [ 9.42657391e-01 3.33743028e-01 -3.55441929e-03 8.41800849e+01] [ 3.76113601e-03 2.67615733e-05 9.99992927e-01 5.61540593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.81, Y:84.20, Z:0.55 [[ 3.27273061e-01 -9.44928913e-01 -1.30113388e-03 1.22807496e+02] [ 9.44922329e-01 3.27275639e-01 -3.52819600e-03 8.42018188e+01] [ 3.75972383e-03 -7.47869514e-05 9.99992929e-01 5.51937926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.83, Y:84.23, Z:0.56 [[ 3.35564715e-01 -9.42016370e-01 -1.21707006e-03 1.22828102e+02] [ 9.42009647e-01 3.35566919e-01 -3.55910308e-03 8.42325180e+01] [ 3.76114181e-03 4.78176743e-05 9.99992926e-01 5.61214306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17088847899998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:122.83, Y:84.26, Z:0.55 [[ 3.32106659e-01 -9.43240943e-01 -1.29997019e-03 1.22830381e+02] [ 9.43234345e-01 3.32109198e-01 -3.52856156e-03 8.42570670e+01] [ 3.76001579e-03 -5.43177425e-05 9.99992930e-01 5.53630579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20088847899999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:122.85, Y:84.29, Z:0.56 [[ 3.36197492e-01 -9.41790672e-01 -1.25567046e-03 1.22846736e+02] [ 9.41784001e-01 3.36199836e-01 -3.54485198e-03 8.42852553e+01] [ 3.76066473e-03 9.20000038e-06 9.99992929e-01 5.61381190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.86, Y:84.31, Z:0.56 [[ 3.37536564e-01 -9.41311522e-01 -1.29872217e-03 1.22856590e+02] [ 9.41304907e-01 3.37539061e-01 -3.52900838e-03 8.43107702e+01] [ 3.76026571e-03 -3.13241876e-05 9.99992930e-01 5.63048888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.87, Y:84.34, Z:0.56 [[ 3.37316505e-01 -9.41390421e-01 -1.28519779e-03 1.22866391e+02] [ 9.41383787e-01 3.37318953e-01 -3.53398057e-03 8.43376140e+01] [ 3.76037703e-03 -1.77943878e-05 9.99992930e-01 5.63150548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.86, Y:84.36, Z:0.56 [[ 3.28025984e-01 -9.44667826e-01 -1.28575630e-03 1.22863304e+02] [ 9.44661218e-01 3.28028499e-01 -3.53377524e-03 8.43577861e+01] [ 3.76000848e-03 -5.54340094e-05 9.99992930e-01 5.55637315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.320888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.89, Y:84.39, Z:0.57 [[ 3.38439173e-01 -9.40987526e-01 -1.18393627e-03 1.22887393e+02] [ 9.40980754e-01 3.38441231e-01 -3.57122563e-03 8.43906168e+01] [ 3.76117162e-03 9.45814070e-05 9.99992922e-01 5.65072498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:84.42, Z:0.57 [[ 3.39590131e-01 -9.40572617e-01 -1.30162661e-03 1.22896259e+02] [ 9.40566002e-01 3.39592625e-01 -3.52780235e-03 8.44164734e+01] [ 3.76017708e-03 -2.62588790e-05 9.99992930e-01 5.65512808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.380888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.91, Y:84.44, Z:0.57 [[ 3.39980097e-01 -9.40431732e-01 -1.30070774e-03 1.22905864e+02] [ 9.40425114e-01 3.39982584e-01 -3.52814110e-03 8.44432504e+01] [ 3.76019383e-03 -2.37204685e-05 9.99992930e-01 5.65824372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.410888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.91, Y:84.47, Z:0.57 [[ 3.40392876e-01 -9.40282405e-01 -1.29972522e-03 1.22914976e+02] [ 9.40275785e-01 3.40395356e-01 -3.52850301e-03 8.44688944e+01] [ 3.76020973e-03 -2.10228679e-05 9.99992930e-01 5.65459784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:84.50, Z:0.57 [[ 3.40677988e-01 -9.40179144e-01 -1.29869021e-03 1.22924614e+02] [ 9.40172521e-01 3.40680462e-01 -3.52888392e-03 8.44951423e+01] [ 3.76022144e-03 -1.87797749e-05 9.99992930e-01 5.65332785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.93, Y:84.52, Z:0.57 [[ 3.40985877e-01 -9.40067523e-01 -1.29772819e-03 1.22934628e+02] [ 9.40060898e-01 3.40988346e-01 -3.52923766e-03 8.45209545e+01] [ 3.76023189e-03 -1.65233295e-05 9.99992930e-01 5.65531651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.95, Y:84.55, Z:0.56 [[ 3.41452008e-01 -9.39898316e-01 -1.29674430e-03 1.22945490e+02] [ 9.39891689e-01 3.41454470e-01 -3.52959913e-03 8.45462216e+01] [ 3.76024342e-03 -1.36104805e-05 9.99992930e-01 5.64411016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.96, Y:84.57, Z:0.56 [[ 3.41291306e-01 -9.39956683e-01 -1.29570921e-03 1.22955482e+02] [ 9.39950055e-01 3.41293765e-01 -3.52997907e-03 8.45720080e+01] [ 3.76024489e-03 -1.31507806e-05 9.99992930e-01 5.64457280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.97, Y:84.60, Z:0.56 [[ 3.41196359e-01 -9.39991154e-01 -1.29471660e-03 1.22965657e+02] [ 9.39984524e-01 3.41198815e-01 -3.53034310e-03 8.45980137e+01] [ 3.76024705e-03 -1.24733537e-05 9.99992930e-01 5.63986411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:84.63, Z:0.56 [[ 3.37935277e-01 -9.41168463e-01 -1.29373240e-03 1.22975191e+02] [ 9.41161840e-01 3.37937752e-01 -3.53070373e-03 8.46253419e+01] [ 3.76018802e-03 -2.44622239e-05 9.99992930e-01 5.58440833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:84.65, Z:0.56 [[ 3.37752795e-01 -9.41233962e-01 -1.29580736e-03 1.22987400e+02] [ 9.41227343e-01 3.37755279e-01 -3.52994366e-03 8.46516875e+01] [ 3.76016863e-03 -2.74009862e-05 9.99992930e-01 5.60291466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:84.68, Z:0.56 [[ 3.36803486e-01 -9.41574049e-01 -1.31235089e-03 1.22997003e+02] [ 9.41567456e-01 3.36806040e-01 -3.52388387e-03 8.46750798e+01] [ 3.76000531e-03 -4.88105122e-05 9.99992930e-01 5.64918562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:84.70, Z:0.57 [[ 3.32606444e-01 -9.43064836e-01 -1.29187584e-03 1.23009419e+02] [ 9.43058225e-01 3.32608950e-01 -3.53137422e-03 8.46992060e+01] [ 3.76000431e-03 -4.37563141e-05 9.99992930e-01 5.66098735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.02, Y:84.73, Z:0.57 [[ 3.29784020e-01 -9.44055524e-01 -1.29117259e-03 1.23020028e+02] [ 9.44048920e-01 3.29786543e-01 -3.53163133e-03 8.47250682e+01] [ 3.75986741e-03 -5.42545096e-05 9.99992930e-01 5.66881829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.03, Y:84.75, Z:0.57 [[ 3.27073541e-01 -9.44998007e-01 -1.29017046e-03 1.23030224e+02] [ 9.44991409e-01 3.27076080e-01 -3.53199739e-03 8.47501313e+01] [ 3.75971439e-03 -6.39771087e-05 9.99992930e-01 5.66476214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77088847899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:123.04, Y:84.78, Z:0.57 [[ 3.24967890e-01 -9.45724172e-01 -1.28911352e-03 1.23040975e+02] [ 9.45717577e-01 3.24970439e-01 -3.53238311e-03 8.47765791e+01] [ 3.75958387e-03 -7.12262309e-05 9.99992930e-01 5.66769918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:84.80, Z:0.57 [[ 3.20891882e-01 -9.47114956e-01 -1.28815576e-03 1.23052143e+02] [ 9.47108372e-01 3.20894456e-01 -3.53273234e-03 8.48019710e+01] [ 3.75926568e-03 -8.63979780e-05 9.99992930e-01 5.67196758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83088847899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:123.06, Y:84.83, Z:0.57 [[ 3.19113617e-01 -9.47715592e-01 -1.28716297e-03 1.23062002e+02] [ 9.47709010e-01 3.19116200e-01 -3.53309403e-03 8.48267276e+01] [ 3.75912285e-03 -9.23975315e-05 9.99992930e-01 5.67175940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86088847899998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.07, Y:84.85, Z:0.57 [[ 3.17670629e-01 -9.48200252e-01 -1.28611616e-03 1.23072123e+02] [ 9.48193673e-01 3.17673217e-01 -3.53347505e-03 8.48525022e+01] [ 3.75900659e-03 -9.70059688e-05 9.99992930e-01 5.67483141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89088847899998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.08, Y:84.88, Z:0.57 [[ 3.16669353e-01 -9.48535118e-01 -1.28512787e-03 1.23082032e+02] [ 9.48528540e-01 3.16671945e-01 -3.53383445e-03 8.48778495e+01] [ 3.75893002e-03 -9.99233932e-05 9.99992930e-01 5.67785899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.09, Y:84.90, Z:0.57 [[ 3.16077867e-01 -9.48732382e-01 -1.28408362e-03 1.23092628e+02] [ 9.48725805e-01 3.16080460e-01 -3.53421386e-03 8.49043096e+01] [ 3.75889687e-03 -1.01156488e-04 9.99992930e-01 5.67068759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.10, Y:84.93, Z:0.57 [[ 3.16368704e-01 -9.48635439e-01 -1.28310203e-03 1.23102234e+02] [ 9.48628860e-01 3.16371291e-01 -3.53457019e-03 8.49300547e+01] [ 3.75895519e-03 -9.89602224e-05 9.99992930e-01 5.66098279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.11, Y:84.95, Z:0.57 [[ 3.18485813e-01 -9.47926761e-01 -1.28206471e-03 1.23111455e+02] [ 9.47920174e-01 3.18488381e-01 -3.53494641e-03 8.49542552e+01] [ 3.75919301e-03 -8.94647261e-05 9.99992930e-01 5.65478762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:123.12, Y:84.98, Z:0.56 [[ 3.18843131e-01 -9.47806666e-01 -1.25734253e-03 1.23123187e+02] [ 9.47800043e-01 3.18845604e-01 -3.54390522e-03 8.49830846e+01] [ 3.75983513e-03 -6.17594660e-05 9.99992930e-01 5.64575069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.13, Y:85.01, Z:0.56 [[ 3.19550597e-01 -9.47568349e-01 -1.28088664e-03 1.23133060e+02] [ 9.47561757e-01 3.19553153e-01 -3.53537506e-03 8.50098983e+01] [ 3.75932087e-03 -8.39879830e-05 9.99992930e-01 5.64095460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.070888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:123.14, Y:85.04, Z:0.56 [[ 3.20198896e-01 -9.47349475e-01 -1.27989913e-03 1.23142418e+02] [ 9.47342881e-01 3.20201444e-01 -3.53573252e-03 8.50357660e+01] [ 3.75939990e-03 -8.03656808e-05 9.99992930e-01 5.63338568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.100888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:123.15, Y:85.06, Z:0.56 [[ 3.21791135e-01 -9.46809817e-01 -1.27885900e-03 1.23152847e+02] [ 9.46803217e-01 3.21793668e-01 -3.53610870e-03 8.50611859e+01] [ 3.75955116e-03 -7.29393780e-05 9.99992930e-01 5.63026660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.130888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.16, Y:85.09, Z:0.56 [[ 3.22336315e-01 -9.46624353e-01 -1.27814680e-03 1.23163237e+02] [ 9.46617750e-01 3.22338842e-01 -3.53636611e-03 8.50871976e+01] [ 3.75960664e-03 -7.00172316e-05 9.99992930e-01 5.63889860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.17, Y:85.11, Z:0.56 [[ 3.22781762e-01 -9.46472558e-01 -1.27717943e-03 1.23173820e+02] [ 9.46465952e-01 3.22784282e-01 -3.53671544e-03 8.51133813e+01] [ 3.75965756e-03 -6.72196009e-05 9.99992930e-01 5.64992131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.190888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.18, Y:85.14, Z:0.57 [[ 3.23373113e-01 -9.46270681e-01 -1.27621196e-03 1.23184104e+02] [ 9.46264072e-01 3.23375625e-01 -3.53706452e-03 8.51391668e+01] [ 3.75971629e-03 -6.38419632e-05 9.99992930e-01 5.66116438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.19, Y:85.17, Z:0.57 [[ 3.25627711e-01 -9.45497206e-01 -1.27524496e-03 1.23194948e+02] [ 9.45490591e-01 3.25630204e-01 -3.53741312e-03 8.51651456e+01] [ 3.75987250e-03 -5.38523763e-05 9.99992930e-01 5.67452547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.20, Y:85.19, Z:0.57 [[ 3.26936082e-01 -9.45045594e-01 -1.27428256e-03 1.23203917e+02] [ 9.45038973e-01 3.26938562e-01 -3.53775977e-03 8.51903189e+01] [ 3.75995639e-03 -4.76253663e-05 9.99992930e-01 5.67556985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28088847899997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:123.21, Y:85.22, Z:0.57 [[ 3.28788480e-01 -9.44402729e-01 -1.27326314e-03 1.23213053e+02] [ 9.44396102e-01 3.28790943e-01 -3.53812663e-03 8.52161207e+01] [ 3.76005383e-03 -3.91694633e-05 9.99992930e-01 5.66506847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.22, Y:85.24, Z:0.57 [[ 3.29169472e-01 -9.44270016e-01 -1.26349634e-03 1.23222808e+02] [ 9.44263374e-01 3.29171896e-01 -3.54163880e-03 8.52430056e+01] [ 3.76017081e-03 -2.72739427e-05 9.99992930e-01 5.66210348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.23, Y:85.27, Z:0.56 [[ 3.30189530e-01 -9.43913797e-01 -1.27200613e-03 1.23232664e+02] [ 9.43907165e-01 3.30191978e-01 -3.53857980e-03 8.52685712e+01] [ 3.76012052e-03 -3.22536968e-05 9.99992930e-01 5.64681926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37088847899997 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:123.24, Y:85.29, Z:0.56 [[ 3.30185865e-01 -9.43915080e-01 -1.27096515e-03 1.23242636e+02] [ 9.43908447e-01 3.30188310e-01 -3.53895365e-03 8.52947571e+01] [ 3.76012956e-03 -3.11622680e-05 9.99992930e-01 5.63790141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:85.32, Z:0.56 [[ 3.29423329e-01 -9.44181475e-01 -1.26999384e-03 1.23252017e+02] [ 9.44174842e-01 3.29425775e-01 -3.53930219e-03 8.53198394e+01] [ 3.76011226e-03 -3.31675227e-05 9.99992930e-01 5.63753217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.26, Y:85.35, Z:0.56 [[ 3.27340419e-01 -9.44905625e-01 -1.26897024e-03 1.23261321e+02] [ 9.44898996e-01 3.27342876e-01 -3.53966914e-03 8.53456594e+01] [ 3.76004165e-03 -4.03719276e-05 9.99992930e-01 5.63920502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46088847899998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:123.27, Y:85.37, Z:0.56 [[ 3.25964536e-01 -9.45381147e-01 -1.26795788e-03 1.23270231e+02] [ 9.45374520e-01 3.25966999e-01 -3.54003175e-03 8.53721864e+01] [ 3.75999170e-03 -4.47702652e-05 9.99992930e-01 5.63429168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:85.40, Z:0.56 [[ 3.24639234e-01 -9.45837070e-01 -1.26701229e-03 1.23279125e+02] [ 9.45830445e-01 3.24641703e-01 -3.54037015e-03 8.53982777e+01] [ 3.75993836e-03 -4.90357464e-05 9.99992930e-01 5.63063952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.29, Y:85.42, Z:0.56 [[ 3.23176549e-01 -9.46337844e-01 -1.26632212e-03 1.23288021e+02] [ 9.46331222e-01 3.23179025e-01 -3.54061699e-03 8.54233530e+01] [ 3.75986860e-03 -5.41157816e-05 9.99992930e-01 5.62592381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:123.30, Y:85.45, Z:0.56 [[ 3.20817703e-01 -9.47140117e-01 -1.26533410e-03 1.23297445e+02] [ 9.47133500e-01 3.20820192e-01 -3.54097005e-03 8.54496901e+01] [ 3.75973952e-03 -6.24344380e-05 9.99992930e-01 5.62116967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58088847899998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:123.31, Y:85.48, Z:0.56 [[ 3.19279712e-01 -9.47659679e-01 -1.26438607e-03 1.23306856e+02] [ 9.47653064e-01 3.19282209e-01 -3.54130854e-03 8.54763602e+01] [ 3.75965129e-03 -6.75313595e-05 9.99992930e-01 5.61724113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61088847899998 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:123.32, Y:85.50, Z:0.56 [[ 3.17717598e-01 -9.48184545e-01 -1.26338415e-03 1.23315824e+02] [ 9.48177934e-01 3.17720101e-01 -3.54166595e-03 8.55029041e+01] [ 3.75955545e-03 -7.26633748e-05 9.99992930e-01 5.61400693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.32, Y:85.53, Z:0.56 [[ 3.15611539e-01 -9.48887641e-01 -1.26519722e-03 1.23323672e+02] [ 9.48881038e-01 3.15614064e-01 -3.54101965e-03 8.55283880e+01] [ 3.75934382e-03 -8.29349929e-05 9.99992930e-01 5.60167041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.33, Y:85.55, Z:0.56 [[ 3.15042983e-01 -9.49076566e-01 -1.26134523e-03 1.23332333e+02] [ 9.49069958e-01 3.15045498e-01 -3.54239124e-03 8.55545371e+01] [ 3.75938164e-03 -8.10993595e-05 9.99992930e-01 5.59390871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70088847899999 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:123.34, Y:85.58, Z:0.56 [[ 3.13946434e-01 -9.49439862e-01 -1.25857715e-03 1.23340759e+02] [ 9.49433254e-01 3.13948946e-01 -3.54337588e-03 8.55814403e+01] [ 3.75935128e-03 -8.25047731e-05 9.99992930e-01 5.59352960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:123.35, Y:85.61, Z:0.56 [[ 3.14361693e-01 -9.49302442e-01 -1.26479415e-03 1.23347706e+02] [ 9.49295841e-01 3.14364225e-01 -3.54116669e-03 8.56081145e+01] [ 3.75924422e-03 -8.74566704e-05 9.99992930e-01 5.58154776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:123.36, Y:85.63, Z:0.56 [[ 3.15734767e-01 -9.48846648e-01 -1.26274659e-03 1.23355762e+02] [ 9.48840041e-01 3.15737282e-01 -3.54189280e-03 8.56339750e+01] [ 3.75940929e-03 -7.98458232e-05 9.99992930e-01 5.57473311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:123.36, Y:85.66, Z:0.56 [[ 3.15615891e-01 -9.48886206e-01 -1.25593668e-03 1.23363553e+02] [ 9.48879590e-01 3.15618381e-01 -3.54430591e-03 8.56599808e+01] [ 3.75953969e-03 -7.30934122e-05 9.99992930e-01 5.57417123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.820888479 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:123.37, Y:85.69, Z:0.56 [[ 3.16423640e-01 -9.48617165e-01 -1.24659522e-03 1.23372094e+02] [ 9.48610533e-01 3.16426090e-01 -3.54760958e-03 8.56877462e+01] [ 3.75977860e-03 -5.99858203e-05 9.99992930e-01 5.56258493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.850888479 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:123.38, Y:85.71, Z:0.56 [[ 3.17521685e-01 -9.48250170e-01 -1.26245856e-03 1.23380215e+02] [ 9.48243558e-01 3.17524187e-01 -3.54200075e-03 8.57128704e+01] [ 3.75956394e-03 -7.24561471e-05 9.99992930e-01 5.56690268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.880888479 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:123.39, Y:85.74, Z:0.56 [[ 3.17029990e-01 -9.48414686e-01 -1.25205153e-03 1.23388247e+02] [ 9.48408061e-01 3.17032457e-01 -3.54567569e-03 8.57396561e+01] [ 3.75971187e-03 -6.33702357e-05 9.99992930e-01 5.56749206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.910888479 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:123.40, Y:85.77, Z:0.56 [[ 3.17941555e-01 -9.48109473e-01 -1.26272493e-03 1.23395832e+02] [ 9.48102860e-01 3.17944055e-01 -3.54190941e-03 8.57665697e+01] [ 3.75959375e-03 -7.10729324e-05 9.99992930e-01 5.58652983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.940888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.41, Y:85.79, Z:0.56 [[ 3.18872640e-01 -9.47796725e-01 -1.26757536e-03 1.23407046e+02] [ 9.47790116e-01 3.18875151e-01 -3.54019912e-03 8.57944651e+01] [ 3.75958741e-03 -7.25227561e-05 9.99992930e-01 5.57999500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.41, Y:85.82, Z:0.56 [[ 3.16561469e-01 -9.48571105e-01 -1.30227992e-03 1.23410174e+02] [ 9.48564551e-01 3.16564125e-01 -3.52804753e-03 8.58188453e+01] [ 3.75885905e-03 -1.18452657e-04 9.99992928e-01 5.60661201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00088847899997 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:123.42, Y:85.85, Z:0.56 [[ 3.16551741e-01 -9.48574414e-01 -1.25578743e-03 1.23418464e+02] [ 9.48567794e-01 3.16554225e-01 -3.54431127e-03 8.58450751e+01] [ 3.75956780e-03 -6.92416029e-05 9.99992930e-01 5.60952140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.42, Y:85.87, Z:0.56 [[ 3.20537879e-01 -9.47234840e-01 -1.27540194e-03 1.23424743e+02] [ 9.47228237e-01 3.20540408e-01 -3.53745322e-03 8.58661464e+01] [ 3.75961679e-03 -7.42089827e-05 9.99992930e-01 5.61013535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.43, Y:85.89, Z:0.56 [[ 3.21408533e-01 -9.46939820e-01 -1.23816123e-03 1.23433301e+02] [ 9.46933164e-01 3.21410916e-01 -3.55044035e-03 8.58933147e+01] [ 3.76001188e-03 -3.13141061e-05 9.99992931e-01 5.60625260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.44, Y:85.92, Z:0.56 [[ 3.22375378e-01 -9.46611105e-01 -1.23718386e-03 1.23442098e+02] [ 9.46604446e-01 3.22377751e-01 -3.55078089e-03 8.59203682e+01] [ 3.76004917e-03 -2.64394089e-05 9.99992931e-01 5.60257679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.46, Y:85.95, Z:0.56 [[ 3.28289796e-01 -9.44576244e-01 -1.23619338e-03 1.23459468e+02] [ 9.44569569e-01 3.28292124e-01 -3.55112569e-03 8.59517256e+01] [ 3.76014151e-03 -1.87231511e-06 9.99992931e-01 5.57363401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.47, Y:85.98, Z:0.56 [[ 3.27606400e-01 -9.44813383e-01 -1.31079855e-03 1.23468303e+02] [ 9.44806811e-01 3.27609011e-01 -3.52512738e-03 8.59780710e+01] [ 3.76001694e-03 -8.35971088e-05 9.99992928e-01 5.57501176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18088847899998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:123.48, Y:86.00, Z:0.56 [[ 3.27936878e-01 -9.44698734e-01 -1.30643638e-03 1.23477030e+02] [ 9.44692154e-01 3.27939471e-01 -3.52664378e-03 8.60049205e+01] [ 3.76004796e-03 -7.76636468e-05 9.99992928e-01 5.57579908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.48, Y:86.03, Z:0.56 [[ 3.24781808e-01 -9.45788073e-01 -1.30290375e-03 1.23478297e+02] [ 9.45781498e-01 3.24784410e-01 -3.52787065e-03 8.60258728e+01] [ 3.75978081e-03 -8.64740509e-05 9.99992928e-01 5.60090028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:123.49, Y:86.05, Z:0.56 [[ 3.25189541e-01 -9.45648058e-01 -1.23009939e-03 1.23487039e+02] [ 9.45641383e-01 3.25191867e-01 -3.55307604e-03 8.60510869e+01] [ 3.75997777e-03 -7.80972441e-06 9.99992931e-01 5.60791701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.50, Y:86.08, Z:0.56 [[ 3.29657446e-01 -9.44099813e-01 -1.22908759e-03 1.23502754e+02] [ 9.44093126e-01 3.29659737e-01 -3.55342600e-03 8.60821494e+01] [ 3.75996952e-03 1.10401930e-05 9.99992931e-01 5.63673288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30088847899998 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:123.51, Y:86.11, Z:0.56 [[ 3.32203403e-01 -9.43206899e-01 -1.28275204e-03 1.23514956e+02] [ 9.43200276e-01 3.32205878e-01 -3.53472512e-03 8.61081698e+01] [ 3.76011488e-03 -3.56443637e-05 9.99992930e-01 5.60324081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:86.13, Z:0.57 [[ 3.29156600e-01 -9.44274438e-01 -1.31127885e-03 1.23519715e+02] [ 9.44267862e-01 3.29159202e-01 -3.52478342e-03 8.61338081e+01] [ 3.75998238e-03 -7.79927513e-05 9.99992928e-01 5.65477526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.52, Y:86.16, Z:0.57 [[ 3.26316116e-01 -9.45259841e-01 -1.27497609e-03 1.23522794e+02] [ 9.45253224e-01 3.26318603e-01 -3.53733064e-03 8.61558299e+01] [ 3.75974502e-03 -5.08872651e-05 9.99992931e-01 5.65539414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:86.18, Z:0.57 [[ 3.26301950e-01 -9.45264796e-01 -1.22566974e-03 1.23531762e+02] [ 9.45258114e-01 3.26304252e-01 -3.55433336e-03 8.61810946e+01] [ 3.75972745e-03 1.21163667e-06 9.99992932e-01 5.65603844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:86.21, Z:0.57 [[ 3.26186973e-01 -9.45304479e-01 -1.22493311e-03 1.23541139e+02] [ 9.45297796e-01 3.26189273e-01 -3.55458721e-03 8.62072115e+01] [ 3.75972725e-03 1.53347742e-06 9.99992932e-01 5.65821941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:86.23, Z:0.57 [[ 3.26067612e-01 -9.45345659e-01 -1.22393576e-03 1.23550807e+02] [ 9.45338975e-01 3.26069909e-01 -3.55493059e-03 8.62333268e+01] [ 3.75972682e-03 2.11354519e-06 9.99992932e-01 5.66050177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.56, Y:86.26, Z:0.57 [[ 3.25378364e-01 -9.45583114e-01 -1.22293881e-03 1.23560106e+02] [ 9.45576430e-01 3.25380662e-01 -3.55527352e-03 8.62587604e+01] [ 3.75972724e-03 4.26961142e-07 9.99992932e-01 5.66543169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:86.29, Z:0.57 [[ 3.24189855e-01 -9.45991250e-01 -1.22221063e-03 1.23568865e+02] [ 9.45984568e-01 3.24192158e-01 -3.55552383e-03 8.62850564e+01] [ 3.75972553e-03 -3.52763923e-06 9.99992932e-01 5.66235393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.58, Y:86.31, Z:0.56 [[ 3.22736133e-01 -9.46488192e-01 -1.22123162e-03 1.23579589e+02] [ 9.46481512e-01 3.22738444e-01 -3.55586006e-03 8.63129709e+01] [ 3.75971795e-03 -8.26862768e-06 9.99992932e-01 5.64679530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.570888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.59, Y:86.34, Z:0.56 [[ 3.21769250e-01 -9.46817314e-01 -1.23434504e-03 1.23587428e+02] [ 9.46810654e-01 3.21771617e-01 -3.55135685e-03 8.63373247e+01] [ 3.75966335e-03 -2.59736047e-05 9.99992932e-01 5.64504305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:86.36, Z:0.56 [[ 3.18778847e-01 -9.47828338e-01 -1.22009860e-03 1.23597869e+02] [ 9.47821667e-01 3.18781181e-01 -3.55624461e-03 8.63633804e+01] [ 3.75965389e-03 -2.27803319e-05 9.99992932e-01 5.63303066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.61, Y:86.39, Z:0.56 [[ 3.17077562e-01 -9.48398826e-01 -1.21912558e-03 1.23607636e+02] [ 9.48392158e-01 3.17079904e-01 -3.55657814e-03 8.63890665e+01] [ 3.75961476e-03 -2.84980101e-05 9.99992932e-01 5.63275885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.660888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.62, Y:86.41, Z:0.56 [[ 3.15447281e-01 -9.48942321e-01 -1.21810144e-03 1.23617418e+02] [ 9.48935656e-01 3.15449631e-01 -3.55692887e-03 8.64142275e+01] [ 3.75956998e-03 -3.38763503e-05 9.99992932e-01 5.63289034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.690888479 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:123.63, Y:86.44, Z:0.56 [[ 3.12148793e-01 -9.50032447e-01 -1.21707624e-03 1.23628114e+02] [ 9.50025788e-01 3.12151163e-01 -3.55727962e-03 8.64405675e+01] [ 3.75944283e-03 -4.58532726e-05 9.99992932e-01 5.63796783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72088847899997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:123.64, Y:86.47, Z:0.56 [[ 3.10586482e-01 -9.50544348e-01 -1.21617187e-03 1.23637161e+02] [ 9.50537692e-01 3.10588859e-01 -3.55758879e-03 8.64662855e+01] [ 3.75937535e-03 -5.10782174e-05 9.99992932e-01 5.64158548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75088847899997 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:123.65, Y:86.49, Z:0.57 [[ 3.09527714e-01 -9.50889645e-01 -1.21507989e-03 1.23646386e+02] [ 9.50882990e-01 3.09530095e-01 -3.55796171e-03 8.64921452e+01] [ 3.75933274e-03 -5.41110490e-05 9.99992932e-01 5.65025315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78088847899997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:123.66, Y:86.52, Z:0.57 [[ 3.08647392e-01 -9.51175753e-01 -1.21397747e-03 1.23655810e+02] [ 9.51169099e-01 3.08649774e-01 -3.55833782e-03 8.65168910e+01] [ 3.75929852e-03 -5.64261668e-05 9.99992932e-01 5.66274289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81088847899997 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:123.66, Y:86.54, Z:0.57 [[ 3.08367203e-01 -9.51266628e-01 -1.21281971e-03 1.23664536e+02] [ 9.51259973e-01 3.08369583e-01 -3.55873238e-03 8.65422014e+01] [ 3.75930006e-03 -5.63104968e-05 9.99992932e-01 5.67364654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84088847899997 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:123.67, Y:86.57, Z:0.57 [[ 3.08215037e-01 -9.51315943e-01 -1.21167234e-03 1.23673227e+02] [ 9.51309287e-01 3.08217413e-01 -3.55912299e-03 8.65694305e+01] [ 3.75930896e-03 -5.56999263e-05 9.99992932e-01 5.68379866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87088847899997 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:123.68, Y:86.60, Z:0.56 [[ 3.03424477e-01 -9.52854722e-01 -1.21064597e-03 1.23677592e+02] [ 9.52848077e-01 3.03426883e-01 -3.55947208e-03 8.65982721e+01] [ 3.75900231e-03 -7.35307340e-05 9.99992932e-01 5.61346487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90088847899997 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:123.69, Y:86.62, Z:0.57 [[ 3.08377797e-01 -9.51263184e-01 -1.22050447e-03 1.23688273e+02] [ 9.51256539e-01 3.08380205e-01 -3.55612034e-03 8.66218638e+01] [ 3.75918577e-03 -6.43843024e-05 9.99992932e-01 5.67255728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93088847899998 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:123.70, Y:86.65, Z:0.57 [[ 3.08335276e-01 -9.51276982e-01 -1.20899762e-03 1.23696418e+02] [ 9.51270322e-01 3.08337642e-01 -3.56002810e-03 8.66485164e+01] [ 3.75935226e-03 -5.24013047e-05 9.99992932e-01 5.66744933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96088847899998 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:123.72, Y:86.68, Z:0.56 [[ 3.12469955e-01 -9.49926875e-01 -1.20792493e-03 1.23716240e+02] [ 9.49920203e-01 3.12472288e-01 -3.56039203e-03 8.66828806e+01] [ 3.75955514e-03 -3.49167575e-05 9.99992932e-01 5.61595545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99088847899998 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:123.71, Y:86.70, Z:0.57 [[ 3.09067182e-01 -9.51039261e-01 -1.34195718e-03 1.23710594e+02] [ 9.51032785e-01 3.09070037e-01 -3.51482393e-03 8.67010814e+01] [ 3.75749430e-03 -1.89928544e-04 9.99992923e-01 5.66233071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02088847899998 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:123.72, Y:86.73, Z:0.57 [[ 3.09994618e-01 -9.50737541e-01 -1.21004138e-03 1.23717511e+02] [ 9.50730880e-01 3.09996976e-01 -3.55941378e-03 8.67275359e+01] [ 3.75917747e-03 -4.70245926e-05 9.99992933e-01 5.66447858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05088847899998 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:123.72, Y:86.75, Z:0.57 [[ 3.10631730e-01 -9.50529580e-01 -1.20255553e-03 1.23723955e+02] [ 9.50522907e-01 3.10634055e-01 -3.56194110e-03 8.67542527e+01] [ 3.75928507e-03 -3.66046533e-05 9.99992933e-01 5.66161232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08088847899998 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:123.73, Y:86.78, Z:0.57 [[ 3.12152367e-01 -9.50031292e-01 -1.20135457e-03 1.23727019e+02] [ 9.50024614e-01 3.12154677e-01 -3.56234610e-03 8.67805572e+01] [ 3.75934872e-03 -2.93216437e-05 9.99992933e-01 5.66153965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11088847899998 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:123.73, Y:86.81, Z:0.57 [[ 3.13390973e-01 -9.49623429e-01 -1.20008816e-03 1.23733235e+02] [ 9.49616746e-01 3.13393270e-01 -3.56277268e-03 8.68072449e+01] [ 3.75939197e-03 -2.30830119e-05 9.99992933e-01 5.65986513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14088847899998 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:123.74, Y:86.83, Z:0.57 [[ 3.14482207e-01 -9.49262611e-01 -1.19887125e-03 1.23738877e+02] [ 9.49255924e-01 3.14484491e-01 -3.56318213e-03 8.68330823e+01] [ 3.75942198e-03 -1.74782528e-05 9.99992933e-01 5.67016629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17088847899998 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:123.74, Y:86.86, Z:0.57 [[ 3.15535486e-01 -9.48913022e-01 -1.19758840e-03 1.23744604e+02] [ 9.48906330e-01 3.15537759e-01 -3.56361324e-03 8.68596929e+01] [ 3.75944337e-03 -1.19527805e-05 9.99992933e-01 5.67107157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20088847899999 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:123.75, Y:86.89, Z:0.57 [[ 3.17344673e-01 -9.48309510e-01 -1.19639678e-03 1.23746374e+02] [ 9.48302813e-01 3.17346928e-01 -3.56401325e-03 8.68885236e+01] [ 3.75946051e-03 -3.52581040e-06 9.99992933e-01 5.65832756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230888479 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:123.75, Y:86.92, Z:0.57 [[ 3.17661572e-01 -9.48203405e-01 -1.19531356e-03 1.23750591e+02] [ 9.48196705e-01 3.17663821e-01 -3.56437651e-03 8.69158701e+01] [ 3.75946182e-03 -1.12692792e-06 9.99992933e-01 5.65247459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260888479 meters Centerline goodness : 0.989413 Centerline is valid? [True, True] Translation: X:123.75, Y:86.94, Z:0.57 [[ 3.17543755e-01 -9.48242869e-01 -1.19419013e-03 1.23754033e+02] [ 9.48236168e-01 3.17546000e-01 -3.56475286e-03 8.69421863e+01] [ 3.75946178e-03 -4.09270751e-07 9.99992933e-01 5.65300207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290888479 meters Centerline goodness : 0.989340 Centerline is valid? [True, True] Translation: X:123.76, Y:86.97, Z:0.56 [[ 3.16880622e-01 -9.48464680e-01 -1.19293401e-03 1.23758087e+02] [ 9.48457979e-01 3.16882867e-01 -3.56517317e-03 8.69701630e+01] [ 3.75946117e-03 -1.71348515e-06 9.99992933e-01 5.61860494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.320888479 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:123.76, Y:87.00, Z:0.56 [[ 3.13933838e-01 -9.49444114e-01 -1.19183388e-03 1.23757620e+02] [ 9.49437419e-01 3.13936100e-01 -3.56554090e-03 8.69987285e+01] [ 3.75944150e-03 -1.22277441e-05 9.99992933e-01 5.59941459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.350888479 meters Centerline goodness : 0.988649 Centerline is valid? [True, True] Translation: X:123.76, Y:87.03, Z:0.56 [[ 3.11169864e-01 -9.50353565e-01 -1.19066888e-03 1.23761356e+02] [ 9.50346875e-01 3.11172142e-01 -3.56592990e-03 8.70251462e+01] [ 3.75939717e-03 -2.19385293e-05 9.99992933e-01 5.59120909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.380888479 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:123.79, Y:87.09, Z:0.54 [[ 3.18026489e-01 -9.48081082e-01 -1.18942884e-03 1.23790998e+02] [ 9.48074374e-01 3.18028713e-01 -3.56634347e-03 8.70854224e+01] [ 3.75945530e-03 6.52468901e-06 9.99992933e-01 5.37548445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.410888479 meters Centerline goodness : 0.985571 Centerline is valid? [True, True] Translation: X:123.78, Y:87.08, Z:0.56 [[ 3.03956893e-01 -9.52684384e-01 -1.63440547e-03 1.23777556e+02] [ 9.52678404e-01 3.03960845e-01 -3.41525230e-03 8.70800084e+01] [ 3.75045280e-03 -5.18973316e-04 9.99992832e-01 5.57447611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.440888479 meters Centerline goodness : 0.981390 Centerline is valid? [True, True] Translation: X:123.79, Y:87.10, Z:0.53 [[ 3.14891850e-01 -9.49126732e-01 -1.25302814e-03 1.23790656e+02] [ 9.49120124e-01 3.14894335e-01 -3.54244156e-03 8.70974868e+01] [ 3.75679744e-03 -7.37882481e-05 9.99992940e-01 5.33251162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47088847899997 meters Centerline goodness : 0.986061 Centerline is valid? [True, True] Translation: X:123.82, Y:87.18, Z:0.53 [[ 3.08177399e-01 -9.51328170e-01 -1.18489605e-03 1.23815213e+02] [ 9.51321490e-01 3.08179676e-01 -3.56508603e-03 8.71804428e+01] [ 3.75672765e-03 -2.85381401e-05 9.99992943e-01 5.27662187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50088847899997 meters Centerline goodness : 0.972808 Centerline is valid? [True, True] Translation: X:123.80, Y:87.14, Z:0.54 [[ 3.06509852e-01 -9.51865714e-01 -1.83659126e-03 1.23796071e+02] [ 9.51860119e-01 3.06514501e-01 -3.34294910e-03 8.71382438e+01] [ 3.74498048e-03 -7.23531140e-04 9.99992726e-01 5.36792517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53088847899997 meters Centerline goodness : 0.969027 Centerline is valid? [True, True] Translation: X:123.72, Y:87.10, Z:0.55 [[ 2.40903591e-01 -9.70548330e-01 -1.18280970e-03 1.23718248e+02] [ 9.70541844e-01 2.40906320e-01 -3.56015919e-03 8.70977460e+01] [ 3.74025289e-03 -2.90311169e-04 9.99992963e-01 5.53011289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56088847899997 meters Centerline goodness : 0.964322 Centerline is valid? [True, True] Translation: X:123.73, Y:87.12, Z:0.56 [[ 2.47860355e-01 -9.68795603e-01 -5.69758220e-04 1.23728653e+02] [ 9.68788352e-01 2.47860716e-01 -3.76769053e-03 8.71193025e+01] [ 3.79134270e-03 3.81885987e-04 9.99992740e-01 5.55778820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59088847899997 meters Centerline goodness : 0.963499 Centerline is valid? [True, True] Translation: X:123.81, Y:87.20, Z:0.56 [[ 3.02689852e-01 -9.53089060e-01 -3.13705142e-04 1.23811583e+02] [ 9.53081673e-01 3.02688773e-01 -3.85104630e-03 8.72047347e+01] [ 3.76534512e-03 8.66686011e-04 9.99992535e-01 5.57676976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62088847899997 meters Centerline goodness : 0.948497 Centerline is valid? [True, False] Translation: X:124.23, Y:85.96, Z:0.70 [[ 9.83000972e-01 1.67669045e-01 -7.48076222e-02 1.24228082e+02] [-1.68235911e-01 9.85745909e-01 -1.29649966e-03 8.59596403e+01] [ 7.35239247e-02 1.38597889e-02 9.97197141e-01 7.01802450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65088847899997 meters Centerline goodness : 0.910959 Centerline is valid? [False, False] Translation: X:124.24, Y:85.97, Z:0.70 [[ 9.83192469e-01 1.64852338e-01 -7.84619416e-02 1.24236910e+02] [-1.65802121e-01 9.86142550e-01 -5.70329816e-03 8.59682555e+01] [ 7.64344572e-02 1.86165961e-02 9.96900796e-01 7.01859293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68088847899998 meters Centerline goodness : 0.156447 Centerline is valid? [False, False] Translation: X:124.25, Y:85.98, Z:0.70 [[ 9.83332287e-01 1.60951561e-01 -8.45707282e-02 1.24250594e+02] [-1.62318776e-01 9.86692622e-01 -9.50181693e-03 8.59769160e+01] [ 8.19159813e-02 2.30708605e-02 9.96372173e-01 7.04134757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71088847899998 meters Centerline goodness : 0.758006 Centerline is valid? [False, False] Translation: X:124.29, Y:85.98, Z:0.71 [[ 9.82603437e-01 1.64939530e-01 -8.53547689e-02 1.24294997e+02] [-1.66340437e-01 9.86022424e-01 -9.52037725e-03 8.59816309e+01] [ 8.25914296e-02 2.35527049e-02 9.96305137e-01 7.06852621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74088847899998 meters Centerline goodness : 0.720023 Centerline is valid? [False, False] Translation: X:124.30, Y:85.99, Z:0.71 [[ 9.82800081e-01 1.61935731e-01 -8.87739803e-02 1.24304544e+02] [-1.63824790e-01 9.86384717e-01 -1.43745651e-02 8.59913240e+01] [ 8.52375417e-02 2.86707024e-02 9.95948067e-01 7.06659641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77088847899998 meters Centerline goodness : 0.731869 Centerline is valid? [False, False] Translation: X:124.32, Y:86.00, Z:0.71 [[ 9.82859299e-01 1.58356667e-01 -9.43968408e-02 1.24317611e+02] [-1.60707099e-01 9.86841770e-01 -1.77918330e-02 8.60000261e+01] [ 9.03372900e-02 3.26571109e-02 9.95375651e-01 7.09274880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80088847899998 meters Centerline goodness : 0.646442 Centerline is valid? [False, False] Translation: X:124.33, Y:86.01, Z:0.71 [[ 9.82998439e-01 1.55837761e-01 -9.71012899e-02 1.24331868e+02] [-1.58143872e-01 9.87278603e-01 -1.64765288e-02 8.60129594e+01] [ 9.32983605e-02 3.15523760e-02 9.95138113e-01 7.10221812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83088847899998 meters Centerline goodness : 0.636633 Centerline is valid? [False, False] Translation: X:124.34, Y:86.02, Z:0.71 [[ 9.82710459e-01 1.57240417e-01 -9.77527748e-02 1.24336360e+02] [-1.59396618e-01 9.87106587e-01 -1.46049355e-02 8.60177749e+01] [ 9.41959218e-02 2.99338846e-02 9.95103558e-01 7.10150592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86088847899998 meters Centerline goodness : 0.642802 Centerline is valid? [False, False] Translation: X:124.34, Y:86.03, Z:0.71 [[ 9.82827763e-01 1.56134752e-01 -9.83439233e-02 1.24339632e+02] [-1.58395926e-01 9.87252874e-01 -1.55721967e-02 8.60251823e+01] [ 9.46589599e-02 3.08820640e-02 9.95030642e-01 7.10388077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89088847899998 meters Centerline goodness : 0.538307 Centerline is valid? [False, False] Translation: X:124.35, Y:86.04, Z:0.71 [[ 9.82866413e-01 1.54495868e-01 -1.00521843e-01 1.24351606e+02] [-1.56679598e-01 9.87548024e-01 -1.41563770e-02 8.60380757e+01] [ 9.70830457e-02 2.96635495e-02 9.94834135e-01 7.11511527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3225.38 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%| | 0/5796 [00:00